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    在跟着小鱼的教程走到导航后，启动导航的launch文件，终端反复出现节点错误

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    仿真 gazebo nav2 导航
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    • 2
      2923733061
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      rviz2-2] [INFO] [1732484845.426017323] [rviz2]: Message Filter dropping message: frame 'odom' at time 555.518 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484845.572651185] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 545.823 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484845.637770069] [rviz2]: Message Filter dropping message: frame 'odom' at time 555.688 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [component_container_isolated-1] [WARN] [1732484845.707385596] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
      [rviz2-2] [INFO] [1732484845.848445499] [rviz2]: Message Filter dropping message: frame 'odom' at time 555.858 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484846.038628123] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.062 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [component_container_isolated-1] [WARN] [1732484846.053953157] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
      [component_container_isolated-1] [WARN] [1732484846.054966341] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
      [rviz2-2] [INFO] [1732484846.242471585] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.266 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484846.451308193] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.436 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [component_container_isolated-1] [WARN] [1732484846.654262998] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
      [component_container_isolated-1] [WARN] [1732484846.679002829] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
      [rviz2-2] [INFO] [1732484846.696645310] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.810 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484846.925902445] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.014 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484847.155021021] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.184 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484847.326624273] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 547.423 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484847.476204844] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.354 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484847.505351397] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 547.623 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484847.591526874] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.524 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484847.791706188] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.728 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [component_container_isolated-1] [WARN] [1732484848.535838870] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
      [component_container_isolated-1] [WARN] [1732484848.944317423] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
      [rviz2-2] [INFO] [1732484849.027245119] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 549.022 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484849.245868994] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.054 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484849.691144242] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.394 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484849.818732816] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.598 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484849.874183562] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.802 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1732484850.145950567] [rviz2]: Message Filter dropping message: frame 'odom' at time 560.006 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

      在rviz界面，tf和LaserScan反复闪烁，忽正常忽错误

      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

        你遇到的问题涉及到多个方面，主要是与ROS 2（Robot Operating System 2）中的时间戳和坐标变换（tf）有关。以下是一些可能的解决步骤和检查点：

        1. 时间同步问题：

          • 错误信息表明，某些消息的时间戳比tf缓存中的所有数据都要早。这通常发生在消息的时间戳不正确或网络延迟导致消息未按顺序到达时。
          • 确保所有发布节点（如激光扫描器、里程计等）都正确设置了时间戳。
          • 检查网络设置，确保所有设备（尤其是发布节点）之间的时间同步。

        2. tf树问题：

          • 确保你的tf树是正确配置的。检查所有静态和动态的tf转换是否正确发布。
          • 使用ros2 topic echo /tf_static和ros2 topic echo /tf来查看当前的tf转换，并确认它们是否按预期工作。
          • 在Rviz中，可以通过“TF”面板来可视化tf树，检查是否有缺失的链接或错误的转换。

        3. 激光扫描数据问题：

          • 激光扫描数据（LaserScan）的闪烁可能与数据接收的不稳定性有关。检查激光传感器的连接和配置。
          • 确保激光传感器发布的数据帧（如laser_link）与tf树中的帧正确对应。

        4. Behavior Tree警告：

          • 警告表明Behavior Tree的执行速度超过了其设定的最大频率（100Hz）。这可能是由于Behavior Tree中的某些节点执行时间过长或频繁调用。
          • 优化Behavior Tree中的逻辑，减少不必要的计算或调用。
          • 考虑增加Behavior Tree的tick rate，如果这不会影响系统的其他部分。

        5. 资源限制：

          • 检查系统资源（CPU、内存、网络带宽）是否足够。资源不足可能导致消息处理延迟或丢失。
          • 如果可能，尝试在具有更高规格的机器上运行你的系统。

        6. 日志和调试：

          • 增加日志记录的详细程度，以便更好地理解问题发生的上下文。
          • 使用ros2 node list和ros2 node info <node_name>来检查节点的状态和发布的主题。

        7. 重启和清理：

          • 有时，简单的重启ROS 2节点或整个系统可以解决一些临时的网络或状态问题。
          • 确保清理任何旧的或无效的配置文件，这些文件可能会干扰系统的正常运行。

        通过上述步骤，你应该能够诊断并解决你遇到的问题。如果问题仍然存在，可能需要更深入地检查具体的节点实现或寻求社区的帮助。

        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
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