6.5.2章节controller_manager启动错误
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错误日志（controller_manager节点未启动）：
tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py [INFO] [launch]: All log files can be found below /home/tingbo/.ros/log/2024-04-21-08-51-56-788969-DESKTOP-NHH5E05-53549 [INFO] [launch]: Default logging verbosity is set to INFO /home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro [INFO] [robot_state_publisher-1]: process started with pid [53559] [INFO] [gzserver-2]: process started with pid [53561] [INFO] [gzclient-3]: process started with pid [53563] [INFO] [spawn_entity.py-4]: process started with pid [53565] [robot_state_publisher-1] [INFO] [1713660717.309174822] [robot_state_publisher]: got segment back_caster_link [robot_state_publisher-1] [INFO] [1713660717.309279822] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1713660717.309287622] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1713660717.309291422] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1713660717.309294622] [robot_state_publisher]: got segment camera_optical_link [robot_state_publisher-1] [INFO] [1713660717.309297822] [robot_state_publisher]: got segment front_caster_link [robot_state_publisher-1] [INFO] [1713660717.309300822] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1713660717.309304122] [robot_state_publisher]: got segment laser_cylinder_link [robot_state_publisher-1] [INFO] [1713660717.309307222] [robot_state_publisher]: got segment laser_link [robot_state_publisher-1] [INFO] [1713660717.309310322] [robot_state_publisher]: got segment left_wheel_link [robot_state_publisher-1] [INFO] [1713660717.309313222] [robot_state_publisher]: got segment right_wheel_link [gzclient-3] Gazebo multi-robot simulator, version 11.10.2 [gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation. [gzclient-3] Released under the Apache 2 License. [gzclient-3] http://gazebosim.org [gzclient-3] [gzserver-2] Gazebo multi-robot simulator, version 11.10.2 [gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation. [gzserver-2] Released under the Apache 2 License. [gzserver-2] http://gazebosim.org [gzserver-2] [spawn_entity.py-4] [INFO] [1713660717.741308120] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1713660717.741623420] [spawn_entity]: Loading entity published on topic /robot_description [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-4] warnings.warn( [spawn_entity.py-4] [INFO] [1713660717.743272920] [spawn_entity]: Waiting for entity xml on /robot_description [spawn_entity.py-4] [INFO] [1713660717.857605420] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1713660717.858030320] [spawn_entity]: Waiting for service /spawn_entity [spawn_entity.py-4] [INFO] [1713660719.113670715] [spawn_entity]: Calling service /spawn_entity [gzclient-3] [Msg] Waiting for master. [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzclient-3] [Msg] Publicized address: 172.18.192.236 [gzclient-3] [Wrn] [GuiIface.cc:120] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700 [gzserver-2] [Msg] Waiting for master. [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzserver-2] [Msg] Publicized address: 172.18.192.236 [gzserver-2] [Msg] Loading world file [/home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world] [gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [gzserver-2] [INFO] [1713660719.924237512] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info] [gzserver-2] [INFO] [1713660719.925709812] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info] [gzserver-2] [INFO] [1713660719.926327212] [depth_camera]: Publishing pointcloud to [/camera_sensor/points] [gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [gzserver-2] [Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_ray_sensor.os: libgazebo_ros_ray_sensor.os: cannot open shared object file: No such file or directory [spawn_entity.py-4] [INFO] [1713660720.044935411] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot] [gzserver-2] [INFO] [1713660720.066235711] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-2] [INFO] [1713660720.072410111] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-2] [INFO] [1713660720.072523911] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-2] [INFO] [1713660720.077647911] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-2] [INFO] [1713660720.079397911] [gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-2] [INFO] [1713660720.079481211] [gazebo_ros2_control]: Loading parameter files /home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml [gzserver-2] [ERROR] [1713660720.079710611] [gazebo_ros2_control]: parser error Couldn't parse params file: '--params-file /home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml'. Error: Cannot have a value before ros__parameters at line 1, at ./src/parse.c:793, at ./src/rcl/arguments.c:406 [gzserver-2] [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 53565] [gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.fishbot_ros2_controller.yaml代码：
controller_manager: ros_parameters: update_rate: 100 use_sim_time: truefishbot_ros2_control.xacro代码：
<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="fishbot_ros2_control"> <ros2_control name="FishBotGazeboSystem" type="system"> <hardware> <plugin>gazebo_ros2_contro/GazeboSystem</plugin> </hardware> <joint name="left_wheel_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> <joint name="right_wheel_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> </ros2_control> <gazebo> <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> <parameters>$(find fishbot_description)/config/fishbot_ros2_controller.yaml</parameters> </plugin> </gazebo> </xacro:macro> </robot>fishbot.urdf.xacro代码：
<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fishbot"> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/base.urdf.xacro" /> <!--传感器组件--> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/imu.urdf.xacro" /> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/laser.urdf.xacro" /> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/camera.urdf.xacro" /> <xacro:base_xacro length="0.12" radius="0.1" /> <!--传感器--> <xacro:imu_xacro xyz="0.0 0.0 0.02" /> <xacro:laser_xacro xyz="0.0 0.0 0.1" /> <xacro:camera_xacro xyz="0.1 0.0 0.075" /> <!--执行器组件--> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/wheel.urdf.xacro" /> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/caster.urdf.xacro" /> <!--执行器主动轮+从动轮--> <xacro:wheel_xacro wheel_name="left" xyz="0.0 0.1 -0.06" /> <xacro:wheel_xacro wheel_name="right" xyz="0.0 -0.1 -0.06" /> <xacro:caster_xacro caster_name="front" xyz="0.08 0.0 -0.076" /> <xacro:caster_xacro caster_name="back" xyz="-0.08 0.0 -0.076" /> <!--gazebo插件--> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_control_plugin.xacro"/> <!--<xacro:gazebo_control_plugin />--> <!--激光雷达传感器插件--> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_sensor_plugin.xacro"/> <xacro:gazebo_sensor_plugin /> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/fishbot_ros2_control.xacro"/> <xacro:fishbot_ros2_control /> </robot>gazebo_sim.launch.py代码：
import launch import launch_ros from ament_index_python.packages import get_package_share_directory from launch.launch_description_sources import PythonLaunchDescriptionSource import launch_ros.parameter_descriptions def generate_launch_description(): robot_name_in_model = "fishbot" urdf_tutorial_path = get_package_share_directory('fishbot_description') default_model_path = urdf_tutorial_path + '/urdf/fishbot/fishbot.urdf.xacro' default_world_path = urdf_tutorial_path + '/world/custom_room.world' print(str(default_model_path)) action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument( name='model', default_value=str(default_model_path), description='URDF 的绝对路径') robot_description = launch_ros.parameter_descriptions.ParameterValue( launch.substitutions.Command( ['xacro ', launch.substitutions.LaunchConfiguration('model')]), value_type=str) robot_state_publisher_node = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', parameters=[{'robot_description': robot_description}]) launch_gazebo = launch.actions.IncludeLaunchDescription( PythonLaunchDescriptionSource([get_package_share_directory('gazebo_ros'), '/launch', '/gazebo.launch.py']), launch_arguments=[('world', default_world_path), ('verbose', 'true')]) spawn_entity_node = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', arguments=['-topic', '/robot_description', '-entity', robot_name_in_model, ]) return launch.LaunchDescription([ action_declare_arg_mode_path, robot_state_publisher_node, launch_gazebo, spawn_entity_node ]) -
@43996173
已解决，yaml缩进错误 -
@43996173
出现新问题配置的接口显示不出来tingbo@DESKTOP-NHH5E05:~$ ros2 service list | grep /controller_manager /controller_manager/configure_controller /controller_manager/describe_parameters /controller_manager/get_parameter_types /controller_manager/get_parameters /controller_manager/list_controller_types /controller_manager/list_controllers /controller_manager/list_hardware_components /controller_manager/list_hardware_interfaces /controller_manager/list_parameters /controller_manager/load_controller /controller_manager/reload_controller_libraries /controller_manager/set_hardware_component_state /controller_manager/set_parameters /controller_manager/set_parameters_atomically /controller_manager/switch_controller /controller_manager/unload_controller tingbo@DESKTOP-NHH5E05:~$ ros2 control list_hardware_interfaces command interfaces state interfaces -
@43996173 前置步骤日志提供一下
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tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ colcon build Starting >>> fishbot_description Finished <<< fishbot_description [0.11s] Summary: 1 package finished [0.38s] tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ source install/setup.bash tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py [INFO] [launch]: All log files can be found below /home/tingbo/.ros/log/2024-04-21-10-55-39-949561-DESKTOP-NHH5E05-106839 [INFO] [launch]: Default logging verbosity is set to INFO /home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro [INFO] [robot_state_publisher-1]: process started with pid [106844] [INFO] [gzserver-2]: process started with pid [106846] [INFO] [gzclient-3]: process started with pid [106848] [INFO] [spawn_entity.py-4]: process started with pid [106850] [robot_state_publisher-1] [INFO] [1713668140.532106642] [robot_state_publisher]: got segment back_caster_link [robot_state_publisher-1] [INFO] [1713668140.532299642] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1713668140.532313342] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1713668140.532317142] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1713668140.532321442] [robot_state_publisher]: got segment camera_optical_link [robot_state_publisher-1] [INFO] [1713668140.532324742] [robot_state_publisher]: got segment front_caster_link [robot_state_publisher-1] [INFO] [1713668140.532327942] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1713668140.532330942] [robot_state_publisher]: got segment laser_cylinder_link [robot_state_publisher-1] [INFO] [1713668140.532334242] [robot_state_publisher]: got segment laser_link [robot_state_publisher-1] [INFO] [1713668140.532337642] [robot_state_publisher]: got segment left_wheel_link [robot_state_publisher-1] [INFO] [1713668140.532340742] [robot_state_publisher]: got segment right_wheel_link [gzclient-3] Gazebo multi-robot simulator, version 11.10.2 [gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation. [gzclient-3] Released under the Apache 2 License. [gzclient-3] http://gazebosim.org [gzclient-3] [gzserver-2] Gazebo multi-robot simulator, version 11.10.2 [gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation. [gzserver-2] Released under the Apache 2 License. [gzserver-2] http://gazebosim.org [gzserver-2] [spawn_entity.py-4] [INFO] [1713668140.870628148] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1713668140.870960348] [spawn_entity]: Loading entity published on topic /robot_description [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-4] warnings.warn( [spawn_entity.py-4] [INFO] [1713668140.873582048] [spawn_entity]: Waiting for entity xml on /robot_description [spawn_entity.py-4] [INFO] [1713668140.886551848] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1713668140.886855548] [spawn_entity]: Waiting for service /spawn_entity [spawn_entity.py-4] [INFO] [1713668142.648822078] [spawn_entity]: Calling service /spawn_entity [gzclient-3] [Msg] Waiting for master. [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzclient-3] [Msg] Publicized address: 172.18.192.236 [gzclient-3] [Wrn] [GuiIface.cc:120] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700 [gzserver-2] [Msg] Waiting for master. [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzserver-2] [Msg] Publicized address: 172.18.192.236 [gzserver-2] [Msg] Loading world file [/home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world] [gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [gzserver-2] [INFO] [1713668143.464895391] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info] [gzserver-2] [INFO] [1713668143.465899491] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info] [gzserver-2] [INFO] [1713668143.466479391] [depth_camera]: Publishing pointcloud to [/camera_sensor/points] [gzserver-2] [Err] [Plugin.hh:212] Failed to load plugin libgazebo_ros_ray_sensor.os: libgazebo_ros_ray_sensor.os: cannot open shared object file: No such file or directory [spawn_entity.py-4] [INFO] [1713668143.541911792] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot] [gzserver-2] [INFO] [1713668143.567741092] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-2] [INFO] [1713668143.572541292] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-2] [INFO] [1713668143.572617692] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-2] [INFO] [1713668143.577216292] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-2] [INFO] [1713668143.579580792] [gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-2] [INFO] [1713668143.579744992] [gazebo_ros2_control]: Loading parameter files /home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml [gzserver-2] [ERROR] [1713668143.582587392] [gazebo_ros2_control]: The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class gazebo_ros2_contro/GazeboSystem with base class type gazebo_ros2_control::GazeboSystemInterface does not exist. Declared types are gazebo_ros2_control/GazeboSystem [gzserver-2] [gzserver-2] [INFO] [1713668143.582760192] [gazebo_ros2_control]: Loading controller_manager [gzserver-2] [WARN] [1713668143.603561793] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [gzserver-2] [INFO] [1713668143.604235093] [gazebo_ros2_control]: Loaded gazebo_ros2_control. [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 106850] -
@小鱼
gazebo_sensor_plugin.xacro代码：<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="gazebo_sensor_plugin"> <gazebo reference="laser_link"> <sensor name="laserscan" type="ray"> <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so"> <ros> <namespace>/</namespace> <remapping>~/out:=scan</remapping> </ros> <output_type>sensor_msgs/LaserScan</output_type> <frame_name>laser_link</frame_name> </plugin> <always_on>true</always_on> <visualize>true</visualize> <update_rate>5</update_rate> <pose>0 0 0 0 0 0</pose> <!--激光传感配置--> <ray> <!--设置扫描范围--> <scan> <horizontal> <samples>360</samples> <resolution>1.000000</resolution> <min_angle>0.000000</min_angle> <max_angle>6.280000</max_angle> </horizontal> </scan> <!--设置扫描距离--> <range> <min>0.120000</min> <max>8.0</max> <resolution>0.015000</resolution> </range> <!--设置噪声--> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.01</stddev> </noise> </ray> </sensor> </gazebo> <gazebo reference="imu_link"> <sensor name="imu_sensor" type="imu"> <plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so"> <ros> <namespace>/</namespace> <remapping>~/out:=imu</remapping> </ros> <initial_orientation_as_reference>false</initial_orientation_as_reference> </plugin> <update_rate>100</update_rate> <always_on>true</always_on> <!--六轴噪声设置--> <imu> <angular_velocity> <x> <noise type="gaussian"> <mean>0.0</mean> <stddev>2e-4</stddev> <base_mean>0.0000075</base_mean> <base_stddev>0.0000008</base_stddev> </noise> </x> <y> <noise type="gaussian"> <mean>0.0</mean> <stddev>2e-4</stddev> <base_mean>0.0000075</base_mean> <base_stddev>0.0000008</base_stddev> </noise> </y> <z> <noise type="gaussian"> <mean>0.0</mean> <stddev>2e-4</stddev> <base_mean>0.0000075</base_mean> <base_stddev>0.0000008</base_stddev> </noise> </z> </angular_velocity> <linear_acceleration> <x> <noise type="gaussian"> <mean>0.0</mean> <stddev>1.7e-2</stddev> <base_mean>0.1</base_mean> <base_stddev>0.001</base_stddev> </noise> </x> <y> <noise type="gaussian"> <mean>0.0</mean> <stddev>1.7e-2</stddev> <base_mean>0.1</base_mean> <base_stddev>0.001</base_stddev> </noise> </y> <z> <noise type="gaussian"> <mean>0.0</mean> <stddev>1.7e-2</stddev> <base_mean>0.1</base_mean> <base_stddev>0.001</base_stddev> </noise> </z> </linear_acceleration> </imu> </sensor> </gazebo> <gazebo reference="camera_link"> <sensor type="depth" name="camera_sensor"> <plugin name="depth_camera" filename="libgazebo_ros_camera.so"> <frame_name>camera_optical_link</frame_name> </plugin> <always_on>true</always_on> <update_rate>10</update_rate> <camera name="camera"> <horizontal_fov>1.5009831567</horizontal_fov> <image> <width>800</width> <height>600</height> <format>R8G8B8</format> </image> <distortion> <k1>0.0</k1> <k2>0.0</k2> <k3>0.0</k3> <p1>0.0</p1> <p2>0.0</p2> <center>0.5 0.5</center> </distortion> </camera> </sensor> </gazebo> </xacro:macro> </robot> -
@小鱼
改正so后运行：tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ colcon build Starting >>> fishbot_description Finished <<< fishbot_description [0.09s] Summary: 1 package finished [0.31s] tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ source install/setup.bash tingbo@DESKTOP-NHH5E05:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py [INFO] [launch]: All log files can be found below /home/tingbo/.ros/log/2024-04-21-11-08-30-453310-DESKTOP-NHH5E05-112821 [INFO] [launch]: Default logging verbosity is set to INFO /home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro [INFO] [robot_state_publisher-1]: process started with pid [112826] [INFO] [gzserver-2]: process started with pid [112828] [INFO] [gzclient-3]: process started with pid [112830] [INFO] [spawn_entity.py-4]: process started with pid [112832] [robot_state_publisher-1] [INFO] [1713668910.984501120] [robot_state_publisher]: got segment back_caster_link [robot_state_publisher-1] [INFO] [1713668910.984607320] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1713668910.984615320] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1713668910.984619020] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1713668910.984622320] [robot_state_publisher]: got segment camera_optical_link [robot_state_publisher-1] [INFO] [1713668910.984625620] [robot_state_publisher]: got segment front_caster_link [robot_state_publisher-1] [INFO] [1713668910.984628720] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1713668910.984631920] [robot_state_publisher]: got segment laser_cylinder_link [robot_state_publisher-1] [INFO] [1713668910.984634920] [robot_state_publisher]: got segment laser_link [robot_state_publisher-1] [INFO] [1713668910.984638020] [robot_state_publisher]: got segment left_wheel_link [robot_state_publisher-1] [INFO] [1713668910.984641020] [robot_state_publisher]: got segment right_wheel_link [gzclient-3] Gazebo multi-robot simulator, version 11.10.2 [gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation. [gzclient-3] Released under the Apache 2 License. [gzclient-3] http://gazebosim.org [gzclient-3] [gzserver-2] Gazebo multi-robot simulator, version 11.10.2 [gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation. [gzserver-2] Released under the Apache 2 License. [gzserver-2] http://gazebosim.org [gzserver-2] [spawn_entity.py-4] [INFO] [1713668911.298643721] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1713668911.298954721] [spawn_entity]: Loading entity published on topic /robot_description [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-4] warnings.warn( [spawn_entity.py-4] [INFO] [1713668911.300862021] [spawn_entity]: Waiting for entity xml on /robot_description [spawn_entity.py-4] [INFO] [1713668911.312368921] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1713668911.312655221] [spawn_entity]: Waiting for service /spawn_entity [spawn_entity.py-4] [INFO] [1713668912.818215129] [spawn_entity]: Calling service /spawn_entity [gzserver-2] [Msg] Waiting for master. [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzserver-2] [Msg] Publicized address: 172.18.192.236 [gzserver-2] [Msg] Loading world file [/home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world] [gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [gzclient-3] [Msg] Waiting for master. [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzclient-3] [Msg] Publicized address: 172.18.192.236 [gzclient-3] [Wrn] [GuiIface.cc:120] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700 [gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [gzserver-2] [INFO] [1713668913.686980638] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info] [gzserver-2] [INFO] [1713668913.687943438] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info] [gzserver-2] [INFO] [1713668913.688370438] [depth_camera]: Publishing pointcloud to [/camera_sensor/points] [spawn_entity.py-4] [INFO] [1713668913.764708139] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot] [gzserver-2] [INFO] [1713668913.883463840] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-2] [INFO] [1713668913.888358440] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-2] [INFO] [1713668913.888440140] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-2] [INFO] [1713668913.893493440] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-2] [INFO] [1713668913.894273140] [gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-2] [INFO] [1713668913.894352040] [gazebo_ros2_control]: Loading parameter files /home/tingbo/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml [gzserver-2] [ERROR] [1713668913.895896740] [gazebo_ros2_control]: The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class gazebo_ros2_contro/GazeboSystem with base class type gazebo_ros2_control::GazeboSystemInterface does not exist. Declared types are gazebo_ros2_control/GazeboSystem [gzserver-2] [gzserver-2] [INFO] [1713668913.896017740] [gazebo_ros2_control]: Loading controller_manager [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 112832] [gzserver-2] [WARN] [1713668913.917713741] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [gzserver-2] [INFO] [1713668913.917941741] [gazebo_ros2_control]: Loaded gazebo_ros2_control. -
@43996173 The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class gazebo_ros2_contro/GazeboSystem with base class type gazebo_ros2_control::GazeboSystemInterface does not exist. Declared types are gazebo_ros2_control/GazeboSystem
检查下相关的拼写错误或者依赖都装了没
-
@小鱼 检察到了这里错了：
<plugin>gazebo_ros2_contro/GazeboSystem</plugin> -
yaml文件中 如果更新速率update_rate配置的是浮点数也会出现此问题
-
@小鱼 在新装ubuntu主机运行，这里的所有代码都拷贝过来一直报错，启动不了服务，报错日志文件如下：
ltb@ltb-B560M-DS3H-AC:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py [INFO] [launch]: All log files can be found below /home/ltb/.ros/log/2024-11-26-20-41-38-194746-ltb-B560M-DS3H-AC-39916 [INFO] [launch]: Default logging verbosity is set to INFO /home/ltb/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro [INFO] [robot_state_publisher-1]: process started with pid [39934] [INFO] [gzserver-2]: process started with pid [39936] [INFO] [gzclient-3]: process started with pid [39938] [INFO] [spawn_entity.py-4]: process started with pid [39940] [robot_state_publisher-1] [INFO] [1732624898.625434993] [robot_state_publisher]: got segment back_link [robot_state_publisher-1] [INFO] [1732624898.625497315] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1732624898.625503324] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1732624898.625506275] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1732624898.625509244] [robot_state_publisher]: got segment camera_optical_link [robot_state_publisher-1] [INFO] [1732624898.625511974] [robot_state_publisher]: got segment front_link [robot_state_publisher-1] [INFO] [1732624898.625514545] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1732624898.625517103] [robot_state_publisher]: got segment laser_cylinder_link [robot_state_publisher-1] [INFO] [1732624898.625519733] [robot_state_publisher]: got segment laser_link [robot_state_publisher-1] [INFO] [1732624898.625522325] [robot_state_publisher]: got segment left_link [robot_state_publisher-1] [INFO] [1732624898.625524804] [robot_state_publisher]: got segment right_link [gzclient-3] Gazebo multi-robot simulator, version 11.10.2 [gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation. [gzclient-3] Released under the Apache 2 License. [gzclient-3] http://gazebosim.org [gzclient-3] [gzserver-2] Gazebo multi-robot simulator, version 11.10.2 [gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation. [gzserver-2] Released under the Apache 2 License. [gzserver-2] http://gazebosim.org [gzserver-2] [spawn_entity.py-4] [INFO] [1732624898.850636671] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1732624898.850852695] [spawn_entity]: Loading entity published on topic /robot_description [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-4] warnings.warn( [spawn_entity.py-4] [INFO] [1732624898.851883055] [spawn_entity]: Waiting for entity xml on /robot_description [spawn_entity.py-4] [INFO] [1732624898.862965166] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1732624898.863166542] [spawn_entity]: Waiting for service /spawn_entity [spawn_entity.py-4] [INFO] [1732624899.615745855] [spawn_entity]: Calling service /spawn_entity [spawn_entity.py-4] [INFO] [1732624899.663114649] [spawn_entity]: Spawn status: Entity pushed to spawn queue, but spawn service timed outwaiting for entity to appear in simulation under the name [fishbot] [spawn_entity.py-4] [ERROR] [1732624899.663311734] [spawn_entity]: Spawn service failed. Exiting. [ERROR] [spawn_entity.py-4]: process has died [pid 39940, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic /robot_description -entity fishbot --ros-args']. [gzserver-2] [Msg] Waiting for master. [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzserver-2] [Msg] Publicized address: 192.168.1.32 [gzserver-2] [Msg] Loading world file [/home/ltb/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world] [gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [gzserver-2] [INFO] [1732624900.329227214] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info] [gzserver-2] [INFO] [1732624900.329631439] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info] [gzserver-2] [INFO] [1732624900.329873717] [depth_camera]: Publishing pointcloud to [/camera_sensor/points] [gzserver-2] [INFO] [1732624900.514854370] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-2] [INFO] [1732624900.517055387] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-2] [INFO] [1732624900.517080623] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-2] [INFO] [1732624900.518731257] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-2] [INFO] [1732624900.519041747] [gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-2] [INFO] [1732624900.519065075] [gazebo_ros2_control]: Loading parameter files /home/ltb/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml [gzserver-2] [rcutils|error_handling.c:65] an error string (message, file name, or formatted message) will be truncated **[gzserver-2] [ERROR] [1732624900.519327783] [gazebo_ros2_control]: parser error Couldn't parse parameter override rule: '--param robot_description:=<?xml version="1.0" ?>** [gzserver-2] <!-- =================================================================================== --> [gzserver-2] <!-- | This document was autogenerated by xacro from /home/ltb/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro | --> [gzserver-2] <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> [gzserver-2] <!-- =================================================================================== --> [gzserver-2] <robot name="fishbot"> [gzserver-2] [gzserver-2] xacro: [gzserver-2] [gzserver-2] xacro: [gzserver-2] [gzserver-2] xacro: [gzserver-2] [gzserver-2] xacro: [gzserver-2] <link name="base_footprint"/> [gzserver-2] <!-- 机器人的身体部分 --> [gzserver-2] <link name="base_link"> [gzserver-2] <!-- 部件外观描述 --> [gzserver-2] <visual> [gzserver-2] , at ./src/rcl/arguments.c:343 [gzserver-2] [gzclient-3] [Msg] Waiting for master. [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzclient-3] [Msg] Publicized address: 192.168.1.32 [gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call -
@43996173 直接拷贝功能包试试
