拓展3:FishBot 树莓派配置建图导航
-
@2524167316 检查一下tf_tree
-
@小鱼 之前发现/odom有话题,但是没有数据传过来,现在/odom有数据了,但是还是建不了图
-
-
@小鱼 在 拓展3:FishBot 树莓派配置建图导航 中说:
ros2 launch fishbot_bringup fishbot_bringup.launch.py
运行之后,出现以下错误:
打开rviz之后也没有小车模型,也没有RobotModel话题,请问怎么解决。 -
-
@小鱼 雷达和四驱板都已经成功运行,运行ros2 launch fishbot_bringup fishbot_bringup.launch.py后,输出如下:
在进行建图操作时,输入ros2 launch slam_toolbox online_async_launch.py,输出如下:
在rviz中没有RobotModel话题:
我是想要加载小车的模型在进行建图。 -
-
@小鱼
这样的
这是节点:
-
@小鱼 你把这个文件 ishbot_bringup.launch.py 的内容粘贴出来,另外不要截图:
@小鱼 在 提问前必看!不符合要求的问题拒绝回答!! 中说:
- 不要截图,要复制粘贴,一定要代码块包裹
不要截图的原因是,代码方便回答者去复制帮你搜索,而且无论是在手机上还是电脑上都更容易看。
- 不要截图,要复制粘贴,一定要代码块包裹
-
import os from launch import LaunchDescription from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare def generate_launch_description(): package_name = 'fishbot_description' urdf_name = "fishbot_v1.0.0.urdf" ld = LaunchDescription() pkg_share = FindPackageShare(package=package_name).find(package_name) urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}') robot_state_publisher_node = Node( package='robot_state_publisher', executable='robot_state_publisher', arguments=[urdf_model_path] ) joint_state_publisher_node = Node( package='joint_state_publisher', executable='joint_state_publisher', name='joint_state_publisher', arguments=[urdf_model_path], output='screen', ) fishbot_bringup_node = Node( package='fishbot_bringup', executable='fishbot_bringup', name='fishbot_bringup', output='screen', ) ld.add_action(joint_state_publisher_node) ld.add_action(robot_state_publisher_node) ld.add_action(fishbot_bringup_node) return ld
-
@2216200358 在 拓展3:FishBot 树莓派配置建图导航 中说:
robot_state_publisher_node = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
arguments=[urdf_model_path]
)这个写的感觉不太对,应该加个参数好像,你看看书前面的代码,或者最近B站的课程,也可以把TF贴出来看看