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    ROS2书籍7.3.3章节运行navigation.launch.py后报错找不到map

    已定时 已固定 已锁定 已移动
    ROS2机器人开发：从入门到实践
    rviz2不显示地图 launch
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    • O
      onedream 年度VIP
      最后由 编辑

      小鱼老师好，这个小节代码我反复检查没有问题，运行后总是报错map找不到，麻烦帮忙查看下，非常感谢。
      我自己摸索的很久，通过百度和AI都没有能解决。
      源码如下：

      import os
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
    fishbot_navigation2_dir = get_package_share_directory('fishbot_navigation2')
    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
    rviz_config_dir = os.path.join(fishbot_navigation2_dir, 'rviz', 'nav2_default_view.rviz')

    use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time', default='true')
    map_yaml_path = launch.substitutions.LaunchConfiguration('map', default=os.path.join(fishbot_navigation2_dir, 'maps', 'room.yaml'))
    nav2_param_path = launch.substitutions.LaunchConfiguration('params_file', default=os.path.join(fishbot_navigation2_dir, 'config', 'nav2_params.yaml'))

    return launch.LaunchDescription([
        launch.actions.DeclareLaunchArgument(
            'use_sim_time', default_value=use_sim_time,
            description='Use simulation (Gazebo) clock if true'),

        launch.actions.DeclareLaunchArgument(
            'map', default_value=map_yaml_path,
            description='Full path to map file to load'),

        launch.actions.DeclareLaunchArgument(
            'params_file', default_value=nav2_param_path,
            description='Full path to param file containing the ROS parameters.'),

        launch.actions.IncludeLaunchDescription(
            PythonLaunchDescriptionSource([nav2_bringup_dir, '/launch', '/bringup_launch.py']), 
            launch_arguments={
                'map': map_yaml_path,
                'use_sim_time': use_sim_time,
                'params_file': nav2_param_path}.items(),
        ),
        launch_ros.actions.Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            arguments=['-d', rviz_config_dir],
            parameters=[{'use_sim_time': use_sim_time}],
            output='screen'),
    ])

      报错如下：

      [component_container_isolated-1] [INFO] [1729425072.452304242] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

      rviz2显示如下：
      1729431110577.jpg

      小鱼小 1 条回复 最后回复 回复 引用 0
      • 小伊小
        机器人小伊
        最后由 编辑

        你遇到的错误提示表明ROS 2的TF（Transform Fusion）系统无法找到名为"map"的坐标系。这通常意味着你的地图文件（在这个例子中是room.yaml）没有被正确加载，或者相关的坐标系设置没有在你的导航配置中正确设置。以下是一些可能的解决步骤：

        1. 检查room.yaml文件：

          • 确保room.yaml文件存在且位于你指定的路径下（fishbot_navigation2/maps/room.yaml）。
          • 打开room.yaml文件，检查是否定义了map坐标系。通常，YAML文件中的image标签后面会跟随一个resolution、origin（包含x, y, z, yaw等信息），这些定义了地图的起始点和分辨率，但更重要的是确认frame字段是否被设置为map。

          示例：

          image: my_map.png
resolution: 0.050000
origin: [-10.000000, -10.000000, 0.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
# 确保这里有
frame: map

        2. 检查导航配置文件：

          • 确保你的导航配置文件（如nav2_params.yaml）中正确引用了地图文件，并且所有相关的坐标系（如base_link到map的变换）都已正确配置。
          • 检查是否有任何节点或服务依赖于map坐标系，并确保这些依赖关系在系统中得到了满足。

        3. 确保TF广播：

          • 检查你的系统是否有任何节点负责发布从base_link到map的TF变换。这通常是由定位节点（如AMCL或静态地图服务器）完成的。
          • 如果你使用的是静态地图，确保static_map_server节点已经启动，并且配置了正确的map文件路径。

        4. 运行tf_tree：

          • 使用ros2 run tf2_ros tf2_echo base_link map来查看base_link到map的变换是否存在。
          • 如果变换不存在，尝试查看ros2 run tf2_tools view_frames的输出，以了解系统中可用的所有坐标系。

        5. 检查启动文件：

          • 确保你的bringup_launch.py文件中包含了所有必要的节点，特别是那些与地图和定位相关的节点。
          • 检查是否有任何条件或参数设置可能导致某些节点未被正确启动。

        6. 重启ROS 2环境：

          • 有时候，简单地重启你的ROS 2环境可以解决一些看似复杂的问题。确保所有节点都已正确停止，然后重新运行你的启动文件。

        通过上述步骤，你应该能够诊断并解决找不到map坐标系的问题。如果问题仍然存在，请检查是否有其他相关的错误消息或日志输出，这些可能会提供更多关于问题原因的线索。

        以上为生成回答，仅供参考～

        我是小伊，已接入ChatGpt，所有回复，仅供参考～

        O 1 条回复 最后回复 回复 引用 0
        • 24384131712
          我不和二极管说话
          最后由 编辑

          你给的信息比较少，你可以看看你的地图文件夹（maps）是否在CmakeLists.txt里面正确安装

          1 条回复 最后回复 回复 引用 0
          • O
            onedream 年度VIP @小伊
            最后由 编辑

            @小伊 在这里面，截图如下：微信截图_20241021210759.png

            我复制一个完整的运行日志：

            O 1 条回复 最后回复 回复 引用 0
            • 小伊小
              机器人小伊
              最后由 编辑

              由于我无法直接查看或复制您提供的截图或完整的运行日志，我将提供一些通用的步骤和建议，这些通常可以帮助您分析和解决运行日志中的问题。以下是一些基本的步骤：

              1. 识别日志级别

              首先，注意日志中的不同级别（如 INFO, DEBUG, WARNING, ERROR, CRITICAL）。通常，ERROR 和 CRITICAL 级别的日志指示了问题所在，而 INFO 和 DEBUG 级别的日志则提供了背景信息或详细的调试信息。

              2. 查找关键字

              在日志中搜索与您的应用或问题相关的关键字。这可以是错误代码、文件名、函数名或任何您认为可能与问题相关的文本。

              3. 分析错误和异常

              如果日志中包含错误或异常信息，请仔细阅读它们。错误消息通常会告诉您问题发生的位置（文件名和行号）以及问题的性质。

              4. 检查堆栈跟踪

              堆栈跟踪（Stack Trace）是错误日志中非常重要的一部分，它显示了方法调用的顺序，从发生错误的点开始回溯到程序的入口点。通过分析堆栈跟踪，您可以了解错误是如何传播的，并找到可能的原因。

              5. 验证外部依赖和配置

              检查日志中是否提到了与外部服务、数据库或配置文件的交互问题。确保所有外部依赖都是可访问的，并且配置是正确的。

              6. 复查代码

              如果日志指出了代码中的特定行或函数，请复查这些代码。检查是否有逻辑错误、类型错误、未处理的异常或资源泄漏等。

              7. 搜索类似问题

              如果问题仍然不清楚，尝试在互联网上搜索类似的错误消息或问题。可能有人已经遇到了相同的问题，并分享了解决方案。

              8. 使用调试工具

              如果可能的话，使用调试工具来逐步执行代码并观察变量的状态。这可以帮助您更深入地了解问题发生的上下文。

              9. 咨询同事或社区

              如果您自己无法解决问题，不妨咨询同事或在相关的开发者社区中寻求帮助。

              示例日志分析

              假设您有一个错误日志条目如下：

              ERROR: 2023-04-01 12:34:56,123 - myapp.module - An error occurred while processing request: TypeError: unsupported operand type(s) for +: 'str' and 'int'
Traceback (most recent call last):
  File "/path/to/myapp/module.py", line 123, in process_request
    result = some_function(a, b)
  File "/path/to/myapp/utils.py", line 456, in some_function
    return a + b

              在这个例子中，错误是由于尝试将字符串和整数相加导致的。您应该检查 some_function 的调用，并确保传递给它的参数类型是正确的。

              如果您能提供具体的日志内容或问题描述，我可以给出更具体的建议。

              以上为生成回答，仅供参考～

              我是小伊，已接入ChatGpt，所有回复，仅供参考～

              1 条回复 最后回复 回复 引用 0
              • O
                onedream 年度VIP @onedream
                最后由 编辑

                @onedream g@33:~/allchapt/chapt7/chapt7_ws$ ros2 launch fishbot_navigation2 navigation2.launch.py
                [INFO] [launch]: All log files can be found below /home/g/.ros/log/2024-10-21-20-54-55-858439-33-6373
                [INFO] [launch]: Default logging verbosity is set to INFO
                [INFO] [component_container_isolated-1]: process started with pid [6430]
                [INFO] [rviz2-2]: process started with pid [6432]
                [rviz2-2] qt.qpa.plugin: Could not find the Qt platform plugin "wayland" in ""
                [component_container_isolated-1] [INFO] [1729515304.247166031] [nav2_container]: Load Library: /opt/ros/humble/lib/libmap_server_core.so
                [component_container_isolated-1] [INFO] [1729515304.344194835] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
                [component_container_isolated-1] [INFO] [1729515304.344307336] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
                [component_container_isolated-1] [INFO] [1729515304.344332020] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
                [component_container_isolated-1] [INFO] [1729515304.344353269] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
                [component_container_isolated-1] [INFO] [1729515304.472249691] [map_server]:
                [component_container_isolated-1] map_server lifecycle node launched.
                [component_container_isolated-1] Waiting on external lifecycle transitions to activate
                [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
                [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container'
                [component_container_isolated-1] [INFO] [1729515304.476483128] [map_server]: Creating
                [component_container_isolated-1] [INFO] [1729515304.483527363] [nav2_container]: Load Library: /opt/ros/humble/lib/libcontroller_server_core.so
                [component_container_isolated-1] [INFO] [1729515304.515386025] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
                [component_container_isolated-1] [INFO] [1729515304.515511135] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
                [component_container_isolated-1] [INFO] [1729515304.594817323] [controller_server]:
                [component_container_isolated-1] controller_server lifecycle node launched.
                [component_container_isolated-1] Waiting on external lifecycle transitions to activate
                [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
                [component_container_isolated-1] [INFO] [1729515304.630948294] [controller_server]: Creating controller server
                [component_container_isolated-1] [INFO] [1729515304.696921124] [local_costmap.local_costmap]:
                [component_container_isolated-1] local_costmap lifecycle node launched.
                [component_container_isolated-1] Waiting on external lifecycle transitions to activate
                [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
                [component_container_isolated-1] [INFO] [1729515304.706006198] [local_costmap.local_costmap]: Creating Costmap
                [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container '/nav2_container'
                [component_container_isolated-1] [INFO] [1729515304.711616692] [nav2_container]: Load Library: /opt/ros/humble/lib/libamcl_core.so
                [component_container_isolated-1] [INFO] [1729515304.739190402] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
                [component_container_isolated-1] [INFO] [1729515304.739279999] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
                [component_container_isolated-1] [INFO] [1729515304.823247496] [amcl]:
                [component_container_isolated-1] amcl lifecycle node launched.
                [component_container_isolated-1] Waiting on external lifecycle transitions to activate
                [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
                [component_container_isolated-1] [INFO] [1729515304.842891165] [amcl]: Creating
                [component_container_isolated-1] [INFO] [1729515304.873670947] [nav2_container]: Load Library: /opt/ros/humble/lib/libsmoother_server_core.so
                [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container'
                [component_container_isolated-1] [INFO] [1729515304.915648877] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
                [component_container_isolated-1] [INFO] [1729515304.915756509] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
                [component_container_isolated-1] [INFO] [1729515305.016590463] [smoother_server]:
                [component_container_isolated-1] smoother_server lifecycle node launched.
                [component_container_isolated-1] Waiting on external lifecycle transitions to activate
                [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
                [component_container_isolated-1] [INFO] [1729515305.023404001] [smoother_server]: Creating smoother server
                [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/smoother_server' in container '/nav2_container'
                [component_container_isolated-1] [INFO] [1729515305.034661478] [nav2_container]: Load Library: /opt/ros/humble/lib/libnav2_lifecycle_manager_core.so
                [component_container_isolated-1] [INFO] [1729515305.064652840] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
                [component_container_isolated-1] [INFO] [1729515305.064775765] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
                [component_container_isolated-1] [INFO] [1729515305.165111511] [lifecycle_manager_localization]: Creating
                [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_localization' in container '/nav2_container'
                [component_container_isolated-1] [INFO] [1729515305.236556146] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
                [component_container_isolated-1] [INFO] [1729515305.245455659] [nav2_container]: Load Library: /opt/ros/humble/lib/libplanner_server_core.so
                [component_container_isolated-1] [INFO] [1729515305.311314877] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
                [component_container_isolated-1] [INFO] [1729515305.311387075] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
                [component_container_isolated-1] [INFO] [1729515305.355907346] [lifecycle_manager_localization]: Starting managed nodes bringup...
                [component_container_isolated-1] [INFO] [1729515305.357464147] [lifecycle_manager_localization]: Configuring map_server
                [component_container_isolated-1] [INFO] [1729515305.365624617] [map_server]: Configuring
                [component_container_isolated-1] [INFO] [map_io]: Loading yaml file: /home/g/allchapt/chapt7/chapt7_ws/install/fishbot_navigation2/share/fishbot_navigation2/maps/room.yaml
                [component_container_isolated-1] [DEBUG] [map_io]: resolution: 0.05
                [component_container_isolated-1] [DEBUG] [map_io]: origin[0]: -8.05
                [component_container_isolated-1] [DEBUG] [map_io]: origin[1]: -11.9
                [component_container_isolated-1] [DEBUG] [map_io]: origin[2]: 0
                [component_container_isolated-1] [DEBUG] [map_io]: free_thresh: 0.25
                [component_container_isolated-1] [DEBUG] [map_io]: occupied_thresh: 0.65
                [component_container_isolated-1] [DEBUG] [map_io]: mode: trinary
                [component_container_isolated-1] [DEBUG] [map_io]: negate: 0
                [component_container_isolated-1] [INFO] [map_io]: Loading image_file: /home/g/allchapt/chapt7/chapt7_ws/install/fishbot_navigation2/share/fishbot_navigation2/maps/room.pgm
                [component_container_isolated-1] [INFO] [1729515305.448887047] [planner_server]:
                [component_container_isolated-1] planner_server lifecycle node launched.
                [component_container_isolated-1] Waiting on external lifecycle transitions to activate
                [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
                [component_container_isolated-1] [INFO] [1729515305.455624679] [planner_server]: Creating
                [component_container_isolated-1] [INFO] [1729515305.641460336] [global_costmap.global_costmap]:
                [component_container_isolated-1] global_costmap lifecycle node launched.
                [component_container_isolated-1] Waiting on external lifecycle transitions to activate
                [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
                [component_container_isolated-1] [INFO] [1729515305.659849835] [global_costmap.global_costmap]: Creating Costmap
                [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planner_server' in container '/nav2_container'
                [component_container_isolated-1] [INFO] [1729515305.699769345] [nav2_container]: Load Library: /opt/ros/humble/lib/libbehavior_server_core.so
                [component_container_isolated-1] [DEBUG] [map_io]: Read map /home/g/allchapt/chapt7/chapt7_ws/install/fishbot_navigation2/share/fishbot_navigation2/maps/room.pgm: 486 X 483 map @ 0.05 m/cell
                [component_container_isolated-1] [INFO] [1729515305.792563937] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
                [component_container_isolated-1] [INFO] [1729515305.793759685] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
                [component_container_isolated-1] [INFO] [1729515305.847009423] [lifecycle_manager_localization]: Configuring amcl
                [component_container_isolated-1] [INFO] [1729515305.847413455] [amcl]: Configuring
                [component_container_isolated-1] [INFO] [1729515305.847880376] [amcl]: initTransforms
                [component_container_isolated-1] [INFO] [1729515306.101881129] [amcl]: initPubSub
                [component_container_isolated-1] [INFO] [1729515306.149700148] [behavior_server]:
                [component_container_isolated-1] behavior_server lifecycle node launched.
                [component_container_isolated-1] Waiting on external lifecycle transitions to activate
                [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
                [component_container_isolated-1] [INFO] [1729515306.168922825] [amcl]: Subscribed to map topic.
                [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/behavior_server' in container '/nav2_container'
                [component_container_isolated-1] [INFO] [1729515306.212135797] [nav2_container]: Load Library: /opt/ros/humble/lib/libbt_navigator_core.so
                [component_container_isolated-1] [INFO] [1729515306.257379049] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
                [component_container_isolated-1] [INFO] [1729515306.257465077] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
                [component_container_isolated-1] [INFO] [1729515306.279662336] [lifecycle_manager_localization]: Activating map_server
                [component_container_isolated-1] [INFO] [1729515306.282865159] [map_server]: Activating
                [component_container_isolated-1] [INFO] [1729515306.305072338] [map_server]: Creating bond (map_server) to lifecycle manager.
                [component_container_isolated-1] [INFO] [1729515306.314930954] [amcl]: Received a 486 X 483 map @ 0.050 m/pix
                [component_container_isolated-1] [INFO] [1729515306.488396167] [lifecycle_manager_localization]: Server map_server connected with bond.
                [component_container_isolated-1] [INFO] [1729515306.494473972] [lifecycle_manager_localization]: Activating amcl
                [component_container_isolated-1] [INFO] [1729515306.535732605] [bt_navigator]:
                [component_container_isolated-1] bt_navigator lifecycle node launched.
                [component_container_isolated-1] Waiting on external lifecycle transitions to activate
                [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
                [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bt_navigator' in container '/nav2_container'
                [component_container_isolated-1] [INFO] [1729515306.535897192] [bt_navigator]: Creating
                [component_container_isolated-1] [INFO] [1729515306.556627732] [nav2_container]: Load Library: /opt/ros/humble/lib/libwaypoint_follower_core.so
                [component_container_isolated-1] [INFO] [1729515306.569814659] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
                [component_container_isolated-1] [INFO] [1729515306.569920266] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
                [component_container_isolated-1] [INFO] [1729515306.577709037] [amcl]: Activating
                [component_container_isolated-1] [INFO] [1729515306.577818035] [amcl]: Creating bond (amcl) to lifecycle manager.
                [rviz2-2] [INFO] [1729515306.630541823] [rviz2]: Stereo is NOT SUPPORTED
                [rviz2-2] [INFO] [1729515306.630957262] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
                [component_container_isolated-1] [INFO] [1729515306.712862941] [lifecycle_manager_localization]: Server amcl connected with bond.
                [component_container_isolated-1] [INFO] [1729515306.714234347] [lifecycle_manager_localization]: Managed nodes are active
                [component_container_isolated-1] [INFO] [1729515306.714283158] [lifecycle_manager_localization]: Creating bond timer...
                [component_container_isolated-1] [INFO] [1729515306.717833430] [waypoint_follower]:
                [component_container_isolated-1] waypoint_follower lifecycle node launched.
                [component_container_isolated-1] Waiting on external lifecycle transitions to activate
                [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
                [component_container_isolated-1] [INFO] [1729515306.726260649] [waypoint_follower]: Creating
                [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/waypoint_follower' in container '/nav2_container'
                [component_container_isolated-1] [INFO] [1729515306.766789038] [nav2_container]: Load Library: /opt/ros/humble/lib/libvelocity_smoother_core.so
                [component_container_isolated-1] [INFO] [1729515306.803518289] [amcl]: createLaserObject
                [component_container_isolated-1] [INFO] [1729515306.806182040] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
                [component_container_isolated-1] [INFO] [1729515306.806471898] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
                [component_container_isolated-1] [INFO] [1729515306.906702789] [velocity_smoother]:
                [component_container_isolated-1] velocity_smoother lifecycle node launched.
                [component_container_isolated-1] Waiting on external lifecycle transitions to activate
                [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
                [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velocity_smoother' in container '/nav2_container'
                [component_container_isolated-1] [INFO] [1729515306.917426614] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
                [component_container_isolated-1] [INFO] [1729515306.917492611] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
                [component_container_isolated-1] [INFO] [1729515307.049421638] [lifecycle_manager_navigation]: Creating
                [component_container_isolated-1] [INFO] [1729515307.073852060] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
                [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_navigation' in container '/nav2_container'
                [component_container_isolated-1] [INFO] [1729515307.201579716] [lifecycle_manager_navigation]: Starting managed nodes bringup...
                [component_container_isolated-1] [INFO] [1729515307.202262053] [lifecycle_manager_navigation]: Configuring controller_server
                [component_container_isolated-1] [INFO] [1729515307.203951959] [controller_server]: Configuring controller interface
                [component_container_isolated-1] [INFO] [1729515307.205456469] [controller_server]: getting goal checker plugins..
                [component_container_isolated-1] [INFO] [1729515307.207992641] [controller_server]: Controller frequency set to 20.0000Hz
                [component_container_isolated-1] [INFO] [1729515307.208158657] [local_costmap.local_costmap]: Configuring
                [component_container_isolated-1] [INFO] [1729515307.268556881] [local_costmap.local_costmap]: Using plugin "voxel_layer"
                [component_container_isolated-1] [INFO] [1729515307.346121195] [local_costmap.local_costmap]: Subscribed to Topics: scan
                [component_container_isolated-1] [INFO] [1729515307.428420122] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
                [component_container_isolated-1] [INFO] [1729515307.428488808] [local_costmap.local_costmap]: Using plugin "inflation_layer"
                [component_container_isolated-1] [INFO] [1729515307.454789939] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
                [rviz2-2] [INFO] [1729515307.475796730] [rviz2]: Stereo is NOT SUPPORTED
                [component_container_isolated-1] [INFO] [1729515307.548083089] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
                [component_container_isolated-1] [INFO] [1729515307.561959789] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
                [component_container_isolated-1] [INFO] [1729515307.569346586] [controller_server]: Controller Server has general_goal_checker goal checkers available.
                [component_container_isolated-1] [INFO] [1729515307.601077523] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
                [component_container_isolated-1] [INFO] [1729515307.625517768] [controller_server]: Setting transform_tolerance to 0.200000
                [component_container_isolated-1] [INFO] [1729515308.361263930] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
                [component_container_isolated-1] [INFO] [1729515308.363622502] [controller_server]: Critic plugin initialized
                [component_container_isolated-1] [INFO] [1729515308.364103929] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
                [component_container_isolated-1] [INFO] [1729515308.375812555] [controller_server]: Critic plugin initialized
                [component_container_isolated-1] [INFO] [1729515308.379610072] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
                [component_container_isolated-1] [INFO] [1729515308.384240240] [controller_server]: Critic plugin initialized
                [component_container_isolated-1] [INFO] [1729515308.384970120] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
                [component_container_isolated-1] [INFO] [1729515308.390574126] [controller_server]: Critic plugin initialized
                [component_container_isolated-1] [INFO] [1729515308.391223192] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
                [component_container_isolated-1] [INFO] [1729515308.398216385] [controller_server]: Critic plugin initialized
                [component_container_isolated-1] [INFO] [1729515308.399177733] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
                [component_container_isolated-1] [INFO] [1729515308.404467980] [controller_server]: Critic plugin initialized
                [component_container_isolated-1] [INFO] [1729515308.405977286] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
                [component_container_isolated-1] [INFO] [1729515308.411205192] [controller_server]: Critic plugin initialized
                [component_container_isolated-1] [INFO] [1729515308.411293876] [controller_server]: Controller Server has FollowPath controllers available.
                [component_container_isolated-1] [INFO] [1729515308.477765730] [lifecycle_manager_navigation]: Configuring smoother_server
                [component_container_isolated-1] [INFO] [1729515308.483735871] [smoother_server]: Configuring smoother server
                [component_container_isolated-1] [INFO] [1729515308.613171298] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
                [component_container_isolated-1] [INFO] [1729515308.627832487] [smoother_server]: Smoother Server has simple_smoother smoothers available.
                [component_container_isolated-1] [INFO] [1729515308.697081498] [lifecycle_manager_navigation]: Configuring planner_server
                [component_container_isolated-1] [INFO] [1729515308.697560217] [planner_server]: Configuring
                [component_container_isolated-1] [INFO] [1729515308.697794137] [global_costmap.global_costmap]: Configuring
                [component_container_isolated-1] [WARN] [1729515308.754484508] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
                [component_container_isolated-1] [INFO] [1729515308.780654263] [global_costmap.global_costmap]: Using plugin "static_layer"
                [component_container_isolated-1] [INFO] [1729515308.829287881] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
                [component_container_isolated-1] [INFO] [1729515308.835517569] [global_costmap.global_costmap]: Initialized plugin "static_layer"
                [component_container_isolated-1] [INFO] [1729515308.835658779] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
                [component_container_isolated-1] [INFO] [1729515308.865737711] [global_costmap.global_costmap]: Subscribed to Topics: scan
                [component_container_isolated-1] [INFO] [1729515308.929484512] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
                [component_container_isolated-1] [INFO] [1729515308.931013210] [global_costmap.global_costmap]: Using plugin "inflation_layer"
                [component_container_isolated-1] [INFO] [1729515308.956233783] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
                [component_container_isolated-1] [INFO] [1729515309.035724948] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 486 X 483 at 0.050000 m/pix
                [component_container_isolated-1] [INFO] [1729515309.046563384] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
                [component_container_isolated-1] [INFO] [1729515309.046649004] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
                [component_container_isolated-1] [INFO] [1729515309.069704574] [planner_server]: Planner Server has GridBased planners available.
                [component_container_isolated-1] [INFO] [1729515309.139093375] [lifecycle_manager_navigation]: Configuring behavior_server
                [component_container_isolated-1] [INFO] [1729515309.139555393] [behavior_server]: Configuring
                [component_container_isolated-1] [INFO] [1729515309.203199068] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
                [component_container_isolated-1] [INFO] [1729515309.219505899] [behavior_server]: Configuring spin
                [component_container_isolated-1] [INFO] [1729515309.274658770] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
                [component_container_isolated-1] [INFO] [1729515309.287041422] [behavior_server]: Configuring backup
                [component_container_isolated-1] [INFO] [1729515309.331797104] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
                [component_container_isolated-1] [INFO] [1729515309.346747901] [behavior_server]: Configuring drive_on_heading
                [component_container_isolated-1] [INFO] [1729515309.386738259] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
                [component_container_isolated-1] [INFO] [1729515309.415520159] [behavior_server]: Configuring assisted_teleop
                [component_container_isolated-1] [INFO] [1729515309.494083407] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
                [component_container_isolated-1] [INFO] [1729515309.503775695] [behavior_server]: Configuring wait
                [component_container_isolated-1] [INFO] [1729515309.554583966] [lifecycle_manager_navigation]: Configuring bt_navigator
                [component_container_isolated-1] [INFO] [1729515309.558879006] [bt_navigator]: Configuring
                [component_container_isolated-1] [INFO] [1729515310.919644473] [lifecycle_manager_navigation]: Configuring waypoint_follower
                [component_container_isolated-1] [INFO] [1729515310.920338635] [waypoint_follower]: Configuring
                [component_container_isolated-1] [INFO] [1729515311.036646226] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
                [component_container_isolated-1] [INFO] [1729515311.054167228] [lifecycle_manager_navigation]: Configuring velocity_smoother
                [component_container_isolated-1] [INFO] [1729515311.058475390] [velocity_smoother]: Configuring velocity smoother
                [component_container_isolated-1] [INFO] [1729515311.134757505] [lifecycle_manager_navigation]: Activating controller_server
                [component_container_isolated-1] [INFO] [1729515311.139850015] [controller_server]: Activating
                [component_container_isolated-1] [INFO] [1729515311.140242866] [local_costmap.local_costmap]: Activating
                [component_container_isolated-1] [INFO] [1729515311.140304633] [local_costmap.local_costmap]: Checking transform
                [component_container_isolated-1] [INFO] [1729515311.140898916] [local_costmap.local_costmap]: start
                [component_container_isolated-1] [INFO] [1729515311.354125304] [controller_server]: Creating bond (controller_server) to lifecycle manager.
                [component_container_isolated-1] [WARN] [1729515311.433573107] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
                [component_container_isolated-1] [INFO] [1729515311.474505395] [lifecycle_manager_navigation]: Server controller_server connected with bond.
                [component_container_isolated-1] [INFO] [1729515311.474597172] [lifecycle_manager_navigation]: Activating smoother_server
                [component_container_isolated-1] [INFO] [1729515311.475111093] [smoother_server]: Activating
                [component_container_isolated-1] [INFO] [1729515311.475181299] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
                [component_container_isolated-1] [INFO] [1729515311.621530723] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
                [component_container_isolated-1] [INFO] [1729515311.621664104] [lifecycle_manager_navigation]: Activating planner_server
                [component_container_isolated-1] [INFO] [1729515311.622193056] [planner_server]: Activating
                [component_container_isolated-1] [INFO] [1729515311.622359270] [global_costmap.global_costmap]: Activating
                [component_container_isolated-1] [INFO] [1729515311.622410177] [global_costmap.global_costmap]: Checking transform
                [component_container_isolated-1] [INFO] [1729515311.622448265] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

                刚刚还没有暂停就发出来了。从运行到报最后一个关键错误。今天第3天了，还没有自研解决。

                24384131712 O 3 条回复 最后回复 回复 引用 0
                • 24384131712
                  我不和二极管说话 @onedream
                  最后由 编辑

                  @onedream 你单独发个地图看看

                  1 条回复 最后回复 回复 引用 0
                  • O
                    onedream 年度VIP @onedream
                    最后由 编辑

                    @onedream 好的，地图如下：
                    微信截图_20241021212453.png

                    我昨天尝试单独在rviz2中打开该地图也没有成功，前面的章节包括7.3.3前面的小节都是顺利通过的。

                    O 1 条回复 最后回复 回复 引用 0
                    • 24384131712
                      我不和二极管说话 @onedream
                      最后由 编辑

                      @onedream 在 ROS2书籍7.3.3章节运行navigation.launch.py后报错找不到map 中说：

                      Activating

                      我的意思是你单独启动地图服务节点发出地图来看看，不要启动整个导航包。刚才看了下你发的日志，你没有给机器人设置初始姿态吗，就是在rviz2上点那个intial_pose

                      24384131712 2 条回复 最后回复 回复 引用 0
                      • 24384131712
                        我不和二极管说话 @2438413171
                        最后由 编辑

                        @2438413171 2D Pose Estimate

                        1 条回复 最后回复 回复 引用 0
                        • O
                          onedream 年度VIP @onedream
                          最后由 编辑

                          @onedream 是的，就是rviz2中没有地图所以我没法点2D Pose Estimate;微信截图_20241021213257.png

                          然后我在昨天尝试加入topic--map也是报错

                          单独启动地图节点我昨天也想到了，但是找了半天不知道是哪个命令了

                          24384131712 1 条回复 最后回复 回复 引用 0
                          • 24384131712
                            我不和二极管说话 @2438413171
                            最后由 编辑

                            @2438413171 在 ROS2书籍7.3.3章节运行navigation.launch.py后报错找不到map 中说：

                            @onedream 在 ROS2书籍7.3.3章节运行navigation.launch.py后报错找不到map 中说：

                            Activating

                            我的意思是你单独启动地图服务节点发出地图来看看，不要启动整个导航包。刚才看了下你发的日志，你没有给机器人设置初始姿态吗，就是在rviz2上点那个intial_pose

                            没有地图也点几下那个按钮，有时候是因为没有初始姿态这个原因的，你也可以试试在配置文件中事先随便给一个初始姿态，我还遇到过rviz2必须先提前打开订阅地图话题再运行程序才可以看到地图，多试试把。提前给定初始姿态你可以在配置文件amcl下面加入这段话：
                            set_initial_pose: true
                            always_reset_initial_pose: false
                            initial_pose:
                            x: 0.0189337
                            y: 0.00899811
                            z: 0.0
                            yaw: 0.011236

                            O 1 条回复 最后回复 回复 引用 0
                            • 24384131712
                              我不和二极管说话 @onedream
                              最后由 编辑

                              @onedream 单独启动地图你可以网上找个教程看看，很多的，一步一步排除问题

                              1 条回复 最后回复 回复 引用 0
                              • O
                                onedream 年度VIP @2438413171
                                最后由 编辑

                                @2438413171 好的，感谢大佬，感谢指导，我先按照你的方法去做。那个单独启动的暂不管他，不行了我在去找。

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

                                  @onedream 在 ROS2书籍7.3.3章节运行navigation.launch.py后报错找不到map 中说：

                                  rviz_config_dir

                                  应该是没有初始化位姿态导致的，另外就是先启动Gazebo仿真程序才行，不知道你启动了没。

                                  不急就再等等，这周就讲到第七章了

                                  新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                  O 1 条回复 最后回复 回复 引用 0
                                  • O
                                    onedream 年度VIP @小鱼
                                    最后由 编辑

                                    @小鱼 要的，小鱼老师，谢谢了，最终确定就是没有初始化。我不和二极管说话大佬指导的是对的没有地图也可以去初始化。感谢感谢。

                                    24384131712 1 条回复 最后回复 回复 引用 0
                                    • 24384131712
                                      我不和二极管说话 @onedream
                                      最后由 编辑

                                      @onedream 解决了你不告诉我，让我开心开心哈哈哈哈

                                      O 1 条回复 最后回复 回复 引用 1
                                      • O
                                        onedream 年度VIP @2438413171
                                        最后由 编辑

                                        @2438413171 深感抱歉，下次一定第一时间告诉你，感谢感谢。

                                        1 条回复 最后回复 回复 引用 0
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