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    拓展3：FishBot 树莓派配置建图导航

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    fishbot 建图导航
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    • 小鱼小
      小鱼 技术大佬 @小鱼
      最后由 编辑

      @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：

      1. 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。

      新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

      2 1 条回复 最后回复 回复 引用 0
      • 2
        2216200358 @小鱼
        最后由 编辑

        @小鱼

        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
        小鱼小 1 条回复 最后回复 回复 引用 0
        • 小鱼小
          小鱼 技术大佬 @2216200358
          最后由 编辑

          @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

          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

          2 小鱼小 2 条回复 最后回复 回复 引用 0
          • 2
            2216200358 @小鱼
            最后由 编辑

            @小鱼 ```
            #include <rclcpp/rclcpp.hpp>
            #include <rclcpp/rclcpp.hpp>
            #include <nav_msgs/msg/odometry.hpp>
            #include <tf2/utils.h>
            #include <tf2_ros/transform_broadcaster.h>

            class TopicSubscribe01 : public rclcpp::Node
            {
            public:
            TopicSubscribe01(std::string name) : Node(name)
            {
            RCLCPP_INFO(this->get_logger(), "大家好，我是%s.", name.c_str());
            odom_subscribe_ = this->create_subscription<nav_msgs::msg::Odometry>("odom", rclcpp::SensorDataQoS(), std::bind(&TopicSubscribe01::odom_callback, this, std::placeholders::1));
            tf_broadcaster             = std::make_unique<tf2_ros::TransformBroadcaster>(this);
            }

            private:
            // 声明一个订阅者
            rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscribe_;
            std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
            nav_msgs::msg::Odometry odom_msg_;

            void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg)
            {
            (void)msg;
            RCLCPP_INFO(this->get_logger(), "recv odom->base_footprint tf :(%f,%f)", msg->pose.pose.position.x, msg->pose.pose.position.y);
            odom_msg_.pose.pose.position.x = msg->pose.pose.position.x;
            odom_msg_.pose.pose.position.y = msg->pose.pose.position.y;
            odom_msg_.pose.pose.position.z = msg->pose.pose.position.z;

            odom_msg_.pose.pose.orientation.x = msg->pose.pose.orientation.x;
odom_msg_.pose.pose.orientation.y = msg->pose.pose.orientation.y;
odom_msg_.pose.pose.orientation.z = msg->pose.pose.orientation.z;
odom_msg_.pose.pose.orientation.w = msg->pose.pose.orientation.w;

            };

            public:
            void publish_tf()
            {
            geometry_msgs::msg::TransformStamped transform;
            double seconds = this->now().seconds();
            transform.header.stamp = rclcpp::Time(static_cast<uint64_t>(seconds * 1e9));
            transform.header.frame_id = "odom";
            transform.child_frame_id = "base_footprint";

            transform.transform.translation.x = odom_msg_.pose.pose.position.x;
transform.transform.translation.y = odom_msg_.pose.pose.position.y;
transform.transform.translation.z = odom_msg_.pose.pose.position.z;
transform.transform.rotation.x = odom_msg_.pose.pose.orientation.x;
transform.transform.rotation.y = odom_msg_.pose.pose.orientation.y;
transform.transform.rotation.z = odom_msg_.pose.pose.orientation.z;
transform.transform.rotation.w = odom_msg_.pose.pose.orientation.w;
tf_broadcaster_->sendTransform(transform);

            }
            };

            int main(int argc, char argv)
            {
            rclcpp::init(argc, argv);
            /产生一个的节点/
            auto node = std::make_shared<TopicSubscribe01>("fishbot_bringup");
            /             运行节点，并检测退出信号            /
            rclcpp::WallRate loop_rate(1000.0);
            while (rclcpp::ok())
            {
            rclcpp::spin_some(node);
            node->publish_tf();
            loop_rate.sleep();
            }

            rclcpp::shutdown();
            return 0;
            }

            1 条回复 最后回复 回复 引用 0
            • 小鱼小
              小鱼 技术大佬 @小鱼
              最后由 编辑

              @小鱼 tf指的是 rqt-tf-tree 图，可以看看前面基础课程

              新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

              1 条回复 最后回复 回复 引用 0
              • 小鱼小 小鱼 在 中 引用了 这个主题
              • D
                Dutton_Ranch
                最后由 编辑

                @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

                ken@ken-desktop:~/fishbot$ ros2 launch fishbot_bringup fishbot_bringup.launch.py
                [INFO] [launch]: All log files can be found below /home/ken/.ros/log/2025-02-11-10-49-43-274026-ken-desktop-11936
                [INFO] [launch]: Default logging verbosity is set to INFO
                [INFO] [joint_state_publisher-1]: process started with pid [11939]
                [INFO] [robot_state_publisher-2]: process started with pid [11940]
                [INFO] [fishbot_bringup-3]: process started with pid [11941]
                [robot_state_publisher-2] [WARN] [1739242183.457418801] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.
                [robot_state_publisher-2] [INFO] [1739242183.470537019] [robot_state_publisher]: Robot initialized
                [fishbot_bringup-3] [INFO] [1739242183.476659215] [fishbot_bringup]: 大家好，我是fishbot_bringup.
                鱼哥，出现这种情况是怎么回事呢？

                小鱼小 1 条回复 最后回复 回复 引用 0
                • 小鱼小
                  小鱼 技术大佬 @Dutton_Ranch
                  最后由 编辑

                  @Dutton_Ranch 可以忽略，确保 rqt-tf-tree 正常就行

                  新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                  D 2 条回复 最后回复 回复 引用 0
                  • D
                    Dutton_Ranch
                    最后由 编辑

                    鱼哥，我在运行slam之后出现以下情况，rvzi2显示的图像也仅仅是小红点，请问这是正常的吗？
                    ken@ken-desktop:~$ ros2 launch slam_toolbox online_async_launch.py
                    [INFO] [launch]: All log files can be found below /home/ken/.ros/log/2025-02-11-16-08-46-957579-ken-desktop-5364
                    [INFO] [launch]: Default logging verbosity is set to INFO
                    [INFO] [async_slam_toolbox_node-1]: process started with pid [5380]
                    [async_slam_toolbox_node-1] [INFO] [1739261328.623784436] [slam_toolbox]: Node using stack size 40000000
                    [async_slam_toolbox_node-1] [INFO] [1739261328.759676062] [slam_toolbox]: Configuring
                    [async_slam_toolbox_node-1] [INFO] [1739261328.827550390] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
                    [async_slam_toolbox_node-1] [INFO] [1739261328.828714298] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
                    [INFO] [launch.user]: [LifecycleLaunch] Slamtoolbox node is activating.
                    [async_slam_toolbox_node-1] [INFO] [1739261328.985683981] [slam_toolbox]: Activating
                    [async_slam_toolbox_node-1] Info: clipped range threshold to be within minimum and maximum range!
                    [async_slam_toolbox_node-1] [WARN] [1739261329.115561229] [slam_toolbox]: maximum laser range setting (20.0 m) exceeds the capabilities of the used Lidar (8.0 m)
                    [async_slam_toolbox_node-1] Registering sensor: [Custom Described Lidar]
                    如果这个时候我保存地图成功，但是与rvzi2的显示不同，请问如何设置才能让rvzi2和保存的图片一致呢？

                    1 条回复 最后回复 回复 引用 0
                    • D
                      Dutton_Ranch @小鱼
                      最后由 编辑

                      @小鱼 好的谢谢

                      1 条回复 最后回复 回复 引用 0
                      • D
                        Dutton_Ranch @小鱼
                        最后由 编辑

                        @小鱼 你好，我想问一下为什么我在将建立好的地图导入后并且修改了launch文件，开始导航后出现的图片为9eb2eda0-ff3a-4f61-96c7-ff916249d2f4-image.png ，我修改后的launch文件为
                        c5288072-87c7-477a-b037-436bd56f29f8-image.png

                        小鱼小 1 条回复 最后回复 回复 引用 0
                        • 小鱼小
                          小鱼 技术大佬 @Dutton_Ranch
                          最后由 编辑

                          @Dutton_Ranch 修改后重新编译了吗，看一下ROS2基础教程

                          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                          D 1 条回复 最后回复 回复 引用 0
                          • D
                            Dutton_Ranch @小鱼
                            最后由 编辑

                            @小鱼 谢谢提醒，我在基础教程里找到问题了，我的.yaml文件中image名称没有修改过来。

                            1 条回复 最后回复 回复 引用 0
                            • 一
                              一百个苹果
                              最后由 一百个苹果 编辑

                              使用ros2 launch slam_toolbox online_async_launch.py尝试建图时，rviz2不出来，一直刷屏以下信息，但是雷达驱动显示运行正常：
                              zhangyiyang@zyyvm:~ros2 launch slam_toolbox online_async_launch.py y
                              [INFO] [launch]: All log files can be found below /home/zhangyiyang/.ros/log/2025-03-14-19-33-49-929416-zyyvm-5974
                              [INFO] [launch]: Default logging verbosity is set to INFO
                              [INFO] [async_slam_toolbox_node-1]: process started with pid [5975]
                              [async_slam_toolbox_node-1] [INFO] [1741952030.006095281] [slam_toolbox]: Node using stack size 40000000
                              [async_slam_toolbox_node-1] [INFO] [1741952030.033581923] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
                              [async_slam_toolbox_node-1] [INFO] [1741952030.033781755] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
                              [async_slam_toolbox_node-1] [INFO] [1741952034.689733552] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952033.579 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952035.814472898] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952033.704 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952035.868816359] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952033.829 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952035.869818823] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952033.954 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952035.869963191] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.079 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952036.072087724] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.204 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952036.072303465] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.329 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952036.136468640] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.454 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952036.136650859] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.579 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952036.560468729] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.704 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952036.579410923] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.954 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952036.671219241] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952035.079 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952036.671433579] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952035.204 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952036.671550686] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952035.329 for reason 'discarding message because the queue is full'
                              [async_slam_toolbox_node-1] [INFO] [1741952037.107363519] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952035.454 for reason 'discarding message because the queue is full'

                              小鱼小 1 条回复 最后回复 回复 引用 0
                              • 小鱼小
                                小鱼 技术大佬 @一百个苹果
                                最后由 编辑

                                @一百个苹果 看一下rqt tf tree

                                新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                一 1 条回复 最后回复 回复 引用 0
                                • 一
                                  一百个苹果 @小鱼
                                  最后由 编辑

                                  @小鱼
                                  使用物理机运行ros2 launch slam_toolbox online_async_launch.py前，rqt_tf_tree是这样的：
                                  frames.png
                                  但是运行此命令时，报错[async_slam_toolbox_node-1] [INFO] [1741952037.107363519] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952035.454 for reason 'discarding message because the queue is full'，再次查看rqt_tf_tree,显示：
                                  frames.png
                                  在关闭“ros2 launch slam_toolbox online_async_launch.py“窗口后，再次查看rqt_tf_tree,显示：
                                  frames3.png
                                  此时，使用ros2 topic echo /tf,发现部分信息有错误：
                                  transforms:

                                  • header:
                                    stamp:
                                    sec: 1742209731
                                    nanosec: 339710976
                                    frame_id: odom
                                    child_frame_id: base_footprint
                                    transform:
                                    translation:
                                    x: 0.00010399995517218485
                                    y: 9.391605715336482e-08
                                    z: 0.0
                                    rotation:
                                    x: 0.0
                                    y: 0.0
                                    z: 0.0006020260043442249
                                    w: 0.9999998211860657

                                  transforms:

                                  • header:
                                    stamp:
                                    sec: 1742209731
                                    nanosec: 340761088
                                    frame_id: odom
                                    child_frame_id: base_footprint
                                    transform:
                                    translation:
                                    x: 0.00010399995517218485
                                    y: 9.391605715336482e-08
                                    z: 0.0
                                    rotation:
                                    x: 0.0
                                    y: 0.0
                                    z: 0.0006020260043442249
                                    w: 0.9999998211860657

                                  A message was lost!!!
                                  total count change:24
                                  total count: 137---
                                  A message was lost!!!
                                  total count change:3
                                  total count: 140---
                                  A message was lost!!!
                                  total count change:1
                                  total count: 141---
                                  A message was lost!!!
                                  total count change:11
                                  total count: 152---
                                  A message was lost!!!
                                  total count change:2
                                  total count: 154---
                                  A message was lost!!!
                                  total count change:16
                                  total count: 170---

                                  小鱼小 1 条回复 最后回复 回复 引用 0
                                  • 小鱼小
                                    小鱼 技术大佬 @一百个苹果
                                    最后由 编辑

                                    @一百个苹果 应该是连在一起的才对

                                    新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                    一 2 条回复 最后回复 回复 引用 0
                                    • 一
                                      一百个苹果 @小鱼
                                      最后由 编辑

                                      @小鱼 本来是完整的tf_tree,但是一运行slam_toolbox online_async_launch.py后tf_tree就只剩两个节点了，不知道什么原因

                                      1 条回复 最后回复 回复 引用 0
                                      • 一
                                        一百个苹果 @小鱼
                                        最后由 编辑

                                        @小鱼 问题解决了，让虚拟机和树莓派之间使用ntp服务同步时间后就正常了

                                        小鱼小 1 条回复 最后回复 回复 引用 0
                                        • 小鱼小
                                          小鱼 技术大佬 @一百个苹果
                                          最后由 编辑

                                          @一百个苹果 ok

                                          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                          1 条回复 最后回复 回复 引用 0
                                          • 苛
                                            苛性钠zzz 年度VIP
                                            最后由 编辑

                                            鱼哥为啥我的树莓派4b2g建图导航的时候特别卡，用ssh连的时候rviz几乎动不了，小车也是原地转圈

                                            1 1 条回复 最后回复 回复 引用 0
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