ROS2 配置Fishbot进行建图

[510721167]

跟着小鱼一步一步走，编译也通过了，用的是Ubuntu20.04,foxy版本，再运行拉unch文件时报错
ma@ma:~/project/cartographer_ros2$ ros2 launch fishbot_cartographer cartographer.launch.py
[INFO] [launch]: All log files can be found below /home/ma/.ros/log/2024-01-06-22-38-41-874567-ma-67486
[INFO] [launch]: Default logging verbosity is set to INFO
rviz config in /home/ma/project/cartographer_ros2/install/fishbot_cartographer/share/fishbot_cartographer/config/cartographer.rviz
/home/ma/project/cartographer_ros2/install/fishbot_cartographer/share/fishbot_cartographer/launch/cartographer.launch.py:29: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
cartographer_node = Node(
/home/ma/project/cartographer_ros2/install/fishbot_cartographer/share/fishbot_cartographer/launch/cartographer.launch.py:29: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
cartographer_node = Node(
/home/ma/project/cartographer_ros2/install/fishbot_cartographer/share/fishbot_cartographer/launch/cartographer.launch.py:38: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
cartographer_occupancy_grid_node = Node(
/home/ma/project/cartographer_ros2/install/fishbot_cartographer/share/fishbot_cartographer/launch/cartographer.launch.py:38: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
cartographer_occupancy_grid_node = Node(
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure("executable 'cartographer_occupancy_grid_node' not found on the libexec directory '/home/ma/project/cartographer_ros2/install/cartographer_ros/lib/cartographer_ros' ")>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 1 more time]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 453, in execute
ret = super().execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 823, in execute
self.__expand_substitutions(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in __expand_substitutions
cmd = [perform_substitutions(context, x) for x in self.__cmd]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in <listcomp>
cmd = [perform_substitutions(context, x) for x in self.__cmd]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
return ''.join([context.perform_substitution(sub) for sub in subs])
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
return ''.join([context.perform_substitution(sub) for sub in subs])
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
return substitution.perform(self)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 84, in perform
raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: executable 'cartographer_occupancy_grid_node' not found on the libexec directory '/home/ma/project/cartographer_ros2/install/cartographer_ros/lib/cartographer_ros'
Task exception was never retrieved
future: <Task finished name='Task-8' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
return self.__function(context, *self.__args, **self.__kwargs)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event
raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [cartographer_node-1]: process started with pid [67488]
[cartographer_node-1] [INFO] [1704551921.965539928] [cartographer_ros]: I0106 22:38:41.000000 67488 configuration_file_resolver.cc:41] Found '/home/ma/project/cartographer_ros2/install/fishbot_cartographer/share/fishbot_cartographer/config/fishbot_2d.lua' for 'fishbot_2d.lua'.
[cartographer_node-1] [INFO] [1704551921.965971039] [cartographer_ros]: I0106 22:38:41.000000 67488 configuration_file_resolver.cc:41] Found '/home/ma/project/cartographer_ros2/install/cartographer/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [1704551921.965990059] [cartographer_ros]: I0106 22:38:41.000000 67488 configuration_file_resolver.cc:41] Found '/home/ma/project/cartographer_ros2/install/cartographer/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [1704551921.966017587] [cartographer_ros]: I0106 22:38:41.000000 67488 configuration_file_resolver.cc:41] Found '/home/ma/project/cartographer_ros2/install/cartographer/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-1] [INFO] [1704551921.966028819] [cartographer_ros]: I0106 22:38:41.000000 67488 configuration_file_resolver.cc:41] Found '/home/ma/project/cartographer_ros2/install/cartographer/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-1] [INFO] [1704551921.966130132] [cartographer_ros]: I0106 22:38:41.000000 67488 configuration_file_resolver.cc:41] Found '/home/ma/project/cartographer_ros2/install/cartographer/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-1] [INFO] [1704551921.966143613] [cartographer_ros]: I0106 22:38:41.000000 67488 configuration_file_resolver.cc:41] Found '/home/ma/project/cartographer_ros2/install/cartographer/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-1] [INFO] [1704551921.966171422] [cartographer_ros]: I0106 22:38:41.000000 67488 configuration_file_resolver.cc:41] Found '/home/ma/project/cartographer_ros2/install/cartographer/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [1704551921.966183449] [cartographer_ros]: I0106 22:38:41.000000 67488 configuration_file_resolver.cc:41] Found '/home/ma/project/cartographer_ros2/install/cartographer/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [1704551921.966254806] [cartographer_ros]: I0106 22:38:41.000000 67488 configuration_file_resolver.cc:41] Found '/home/ma/project/cartographer_ros2/install/cartographer/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-1] [INFO] [1704551921.966266211] [cartographer_ros]: I0106 22:38:41.000000 67488 configuration_file_resolver.cc:41] Found '/home/ma/project/cartographer_ros2/install/cartographer/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-1] [INFO] [1704551921.991178873] [cartographer_ros]: I0106 22:38:41.000000 67488 submap_2d.cc:187] Added submap 1
[cartographer_node-1] [INFO] [1704551921.991232749] [cartographer_ros]: I0106 22:38:41.000000 67488 map_builder_bridge.cc:132] Added trajectory with ID '0'.
[cartographer_node-1] [INFO] [1704551922.112385262] [cartographer_ros]: I0106 22:38:42.000000 67488 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '621355976744920000'.
[cartographer_node-1] [INFO] [1704551922.119574289] [cartographer_ros]: I0106 22:38:42.000000 67488 local_trajectory_builder_2d.cc:295] Extrapolator not yet initialized.
[cartographer_node-1] [WARN] [1704551922.121812883] [cartographer_ros]: W0106 22:38:42.000000 67488 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 ms
[ERROR] [cartographer_node-1]: process[cartographer_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [cartographer_node-1]: sending signal 'SIGTERM' to process[cartographer_node-1]
[ERROR] [cartographer_node-1]: process has died [pid 67488, exit code -15, cmd '/home/ma/project/cartographer_ros2/install/cartographer_ros/lib/cartographer_ros/cartographer_node -configuration_directory /home/ma/project/cartographer_ros2/install/fishbot_cartographer/share/fishbot_cartographer/config -configuration_basename fishbot_2d.lua --ros-args -r __node:=cartographer_node -r __node:=cartographer_node --params-file /tmp/launch_params__ujurmm5'].

[小鱼]

@510721167 在 ROS2 配置Fishbot进行建图 中说：

raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: executable 'cartographer_occupancy_grid_node' not found on the libexec directory '/home/ma/project/cartographer_ros2/install/cartographer_ros/lib/cartographer_ros'

应该是代码有更新,教程里没更新,请参考最新的教程

[3213807618]

我也是哦这个问题，请问您解决了么

[小鱼]

@510721167 在 ROS2 配置Fishbot进行建图 中说：

raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: executable 'cartographer_occupancy_grid_node' not found on the libexec directory '/home/ma/project/cartographer_ros2/install/cartographer_ros/lib/cartographer_ros'

应该是代码有更新,教程里没更新,请参考最新的教程