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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 @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
                                        • 1
                                          1117 年度VIP @苛性钠zzz
                                          最后由 编辑

                                          @苛性钠zzz 哈喽，你的那个树莓派和b1f051d2-b9a6-46ac-930e-bee084634fde-image.png 这个板子如何接线的呀

                                          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 @1117
                                            最后由 编辑

                                            @1117 usb连接就行

                                            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
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