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    ROS2 配置Fishbot进行建图

    已定时 已固定 已锁定 已移动 已解决
    综合问题
    求助贴 cartographer
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    • 5107211675
      十一。
      最后由 编辑

      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'].

      小鱼小 1 条回复 最后回复 回复 引用 0
      • 小鱼小
        小鱼 技术大佬 @510721167
        最后由 编辑

        @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

        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
        • 3
          T.
          最后由 编辑

          我也是哦这个问题,请问您解决了么

          1 条回复 最后回复 回复 引用 0
          • 小鱼小
            小鱼 技术大佬 @510721167
            最后由 编辑

            @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

            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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