第十章配置fishbot建图时Rviz2 fixed frame报错，无法显示地图

[tf_wang]

跟着教程先启动gazebo后启动Rviz2,随后Rviz2的Fixed Frame报错


这是我用rqt_graph查看的node和topic,看起来好像也没什么问题

这是gazebo.launch.py的内容：

import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    robot_name_in_model = ''
    package_name = 'fishbot_description'
    urdf_name = "fishbot_base.urdf"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')

    gazebo_world_path = os.path.join(pkg_share, 'world/fishbot.world')

    # Start Gazebo server
    start_gazebo_cmd =  ExecuteProcess(
        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so',gazebo_world_path],
        output='screen')

    # Launch the robot
    spawn_entity_cmd = Node(
        package='gazebo_ros', 
        executable='spawn_entity.py',
        arguments=['-entity', robot_name_in_model,  '-file', urdf_model_path ], output='screen')

    ld.add_action(start_gazebo_cmd)
    ld.add_action(spawn_entity_cmd)


    return ld

这是cartographer.launch.py的内容：

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():
    # 定位到功能包的地址
    pkg_share = FindPackageShare(package='fishbot_cartographer').find('fishbot_cartographer')
    
    #=====================运行节点需要的配置=======================================================================
    # 是否使用仿真时间，我们用gazebo，这里设置成true
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    # 地图的分辨率
    resolution = LaunchConfiguration('resolution', default='0.05')
    # 地图的发布周期
    publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
    # 配置文件夹路径
    configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
    # 配置文件
    configuration_basename = LaunchConfiguration('configuration_basename', default='fishbot_2d.lua')
    rviz_config_dir = os.path.join(pkg_share, 'config')+"/cartographer.rviz"
    print(f"rviz config in {rviz_config_dir}")

    
    #=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
    cartographer_node = Node(
        package='cartographer_ros',
        executable='cartographer_node',
        name='cartographer_node',
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=['-configuration_directory', configuration_directory,
                   '-configuration_basename', configuration_basename])

    cartographer_occupancy_grid_node = Node(
        package='cartographer_ros',
        executable='cartographer_occupancy_grid_node',
        name='cartographer_occupancy_grid_node',
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])

    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        arguments=['-d', rviz_config_dir],
        parameters=[{'use_sim_time': use_sim_time}],
        output='screen')

    #===============================================定义启动文件========================================================
    ld = LaunchDescription()
    ld.add_action(cartographer_node)
    ld.add_action(cartographer_occupancy_grid_node)
    ld.add_action(rviz_node)

    return ld

gazebo和Rviz2都启动正常，网上搜索尝试了一些办法也没解决，请各位帮我看看问题出哪了

[1033032934]

@tf_wang cmake里添加代码

• install(
• DIRECTORY config launch rviz
• DESTINATION share/${PROJECT_NAME}
• )