拓展3：FishBot 树莓派配置建图导航

[小鱼]

@Dutton_Ranch 修改后重新编译了吗，看一下ROS2基础教程

[Dutton_Ranch]

@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。

[一百个苹果]

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]

@一百个苹果 看一下rqt tf tree

[一百个苹果]

@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：

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：

在关闭“ros2 launch slam_toolbox online_async_launch.py“窗口后，再次查看rqt_tf_tree,显示：

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]

@一百个苹果 应该是连在一起的才对

[一百个苹果]

@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

[一百个苹果]

@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]

@一百个苹果 ok

[苛性钠zzz]

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

[1117]

@苛性钠zzz 哈喽，你的那个树莓派和 这个板子如何接线的呀

[小鱼]

@1117 usb连接就行

[3132495710]

@小鱼 您好，进行导航时点击了Nav2 Goal，机器人没有反应。
rviz画面：
LaserScan间断标红报错
等待大概五分钟后rviz画面如图：
出现轨迹规划但是机器人全程无反应，图像更新基本没有，fps基本为0
Navigation2的Feeback显示中止或者未知

运行导航代码指令ros2 launch fishbot_navigation2 navigation2.launch.py开启rviz后，终端回复基本是：
Message Filter dropping message: frame 'laser_frame' at time 1747379107.151 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
消息过滤器丢弃消息：帧 'laser_frame' 在时间 1747379107.151，原因是“消息上的时间戳早于转换缓存中的所有数据”。

建图时map的resolution我改为0.02（原来是0.05，0.05图像有点粗糙），代价地图这些我没有改动。
使用树莓派4b，雷达板和主控板连接树莓派使用数据线，电脑远程桌面连接，网络是手机热点5G。建图时没有问题。

[小鱼]

@3132495710 看看有没有发送 /cmd_vel

[yunduo_12]

@小鱼 ,自主建图为啥总是会出现这种情况?

[3132495710]

@小鱼 有发送
ros@ubuntu:~$ ros2 topic list
/amcl/transition_event
/amcl_pose
/behavior_server/transition_event
/behavior_tree_log
/bond
/bt_navigator/transition_event
/clicked_point
/cmd_vel
/cmd_vel_nav
/controller_server/transition_event
/cost_cloud
/diagnostics
/downsampled_costmap
/downsampled_costmap_updates
/evaluation
/global_costmap/costmap
/global_costmap/costmap_raw
/global_costmap/costmap_updates
/global_costmap/footprint
/global_costmap/global_costmap/transition_event
/global_costmap/published_footprint
/global_costmap/voxel_marked_cloud
/goal_pose
/imu
/initialpose
/joint_states
/local_costmap/clearing_endpoints
/local_costmap/costmap
/local_costmap/costmap_raw
/local_costmap/costmap_updates
/local_costmap/footprint
/local_costmap/local_costmap/transition_event
/local_costmap/published_footprint
/local_costmap/voxel_grid
/local_costmap/voxel_marked_cloud
/local_plan
/map
/map_server/transition_event
/map_updates
/marker
/mobile_base/sensors/bumper_pointcloud
/odom
/parameter_events
/particle_cloud
/plan
/plan_smoothed
/planner_server/transition_event
/received_global_plan
/robot_description
/rosout
/scan
/smoother_server/transition_event
/speed_limit
/tf
/tf_static
/transformed_global_plan
/velocity_smoother/transition_event
/waypoint_follower/transition_event
/waypoints
/ydlidar_node/transition_event

[小鱼]

@3132495710 ros2 topic echo /cmd_vel

[3132495710]

@小鱼 :有几次是启动了，但是走的很卡顿，数据变化很少基本是
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0还有命令终端没有反应

[3132495710]

@小鱼

[2454871215]

@Dutton_Ranch 我也是只有显示红点，怎么才能看见实时地图呢