执行6.5.2章节中关于ros2_control的代码时，发现输出端并没有显示从yaml文件读取参数，成功激活硬件的信息

noname

我的系统是Ubuntu 22.04.5 LTS，ROS版本是humb，gazebo版本是Gazebo multi-robot simulator, version 11.10.2。
我现在遇到的问题是根据教材的代码构建并运行后，输出端没有显示任何关于ros2_control的信息，但是可以正常启动gazeb，并出现仿真画面。很奇怪是不是哪里有问题？
输出信息如下：

[INFO] [launch]: All log files can be found below /home/fu/.ros/log/2024-12-27-11-52-51-747578-fu-23280
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [23284]
[INFO] [gzserver-2]: process started with pid [23286]
[INFO] [gzclient-3]: process started with pid [23288]
[INFO] [spawn_entity.py-4]: process started with pid [23290]
[robot_state_publisher-1] [INFO] [1735271572.162625006] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1735271572.162683506] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1735271572.162686852] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1735271572.162689567] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1735271572.162692122] [robot_state_publisher]: got segment camera_optical_link
[robot_state_publisher-1] [INFO] [1735271572.162694707] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1735271572.162697332] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1735271572.162699846] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1735271572.162701880] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1735271572.162703663] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1735271572.162705888] [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] [1735271572.305556634] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1735271572.305681037] [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] [1735271572.306448056] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1735271572.317031674] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1735271572.317141760] [spawn_entity]: Waiting for 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: 192.168.33.107
[gzserver-2] [Msg] Loading world file [/home/fu/CodeRepo/ros2_learning/dpg/ros2_/install/roobot_description/share/roobot_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
[spawn_entity.py-4] [INFO] [1735271572.819228429] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1735271572.828264473] [spawn_entity]: Spawn status: Entity [fishbot] already exists.
[spawn_entity.py-4] [ERROR] [1735271572.828491149] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-4]: process has died [pid 23290, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic /robot_description -entity fishbot --ros-args'].
[gzserver-2] [INFO] [1735271573.651086500] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
[gzserver-2] [INFO] [1735271573.651313737] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
[gzserver-2] [INFO] [1735271573.651438521] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
[gzserver-2] [INFO] [1735271573.666764576] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
[gzserver-2] [INFO] [1735271573.666795775] [diff_drive]: Wheel pair 1 diameter set to [0.064000m]
[gzserver-2] [INFO] [1735271573.667267269] [diff_drive]: Subscribed to [/cmd_vel]
[gzserver-2] [INFO] [1735271573.668068553] [diff_drive]: Advertise odometry on [/odom]
[gzserver-2] [INFO] [1735271573.668939407] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-2] [INFO] [1735271573.668950718] [diff_drive]: Publishing wheel transforms between [base_footprint], [left_wheel_joint] and [right_wheel_joint]
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 192.168.33.107
[gzclient-3] [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
[INFO] [gzclient-3]: process has finished cleanly [pid 23288]
[gzclient-3] 
[gzclient-3] 
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1735271703.216909016] [rclcpp]: signal_handler(signum=2)
[gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 23284]
[INFO] [gzserver-2]: process has finished cleanly [pid 23286]
[gzserver-2] 
[gzserver-2]

我看到里面提示fishbot已经存在，就尝试使用ros2 service call /delete_entity gazebo_msgs/DeleteEntity "{name: fishbot}" 这个指令进行删除，但是好像没有用。

机器人小伊

根据你提供的输出信息，有几个关键点需要注意，特别是关于 ros2_control 和 Gazebo 的集成部分。以下是一些可能的解决步骤和检查点：

检查 YAML 文件是否被正确读取：
- 确保你的 ros2_control 配置文件（通常是 .yaml 文件）被正确指定在启动文件中。这通常是通过设置参数服务器或者通过命令行参数来完成的。
- 你可以在 ROS 2 的参数服务器中查询相关参数来确认是否已正确加载。使用命令 ros2 param list 或 ros2 param get /<node_name> <param_name> 来检查。
确认 ros2_control 节点是否启动：
- 在你的输出中，没有看到任何与 ros2_control 相关的节点启动信息。确保你的启动文件中包含了启动 ros2_control 所需的所有节点，如 controller_manager、robot_state_publisher（如果它负责发布 /robot_description），以及任何特定的控制器节点。
- 使用 ros2 node list 来查看当前运行的节点，确认 ros2_control 的相关节点是否在运行。
处理 Gazebo 中的实体重复问题：
- 输出中提到 "Spawn status: Entity [fishbot] already exists."，这意味着尝试在 Gazebo 中添加一个已经存在的实体。这可能是因为之前的 Gazebo 实例没有正确关闭，或者你的启动脚本试图多次添加同一个实体。
- 使用 ros2 service call /gazebo/reset gazebo_msgs/srv/Reset "{}" 来重置 Gazebo 世界，这通常会删除所有实体。
- 确保在尝试重新添加实体之前，Gazebo 已经完全重置或重启。
检查 robot_description 话题：
- robot_state_publisher 通常需要从 /robot_description 话题读取 URDF 或 XACRO 描述。确认这个话题是否被正确发布，并且包含了你期望的机器人描述。
- 你可以使用 rostopic echo /robot_description 来查看发布的内容。
调试和日志：
- 增加日志的详细程度可以帮助识别问题。在启动文件中，你可以设置节点的日志级别为 DEBUG，以便获取更多信息。
- 检查 .ros/log 目录下的日志文件，可能会有更详细的错误信息或警告。
确保环境配置正确：
- 确保你的 ROS 2 工作空间已经正确构建，并且所有必要的包都已安装。
- 检查你的 setup.bash 或 setup.zsh 是否已经正确 source。

通过上述步骤，你应该能够更接近问题的根源，并找到解决方案。如果问题仍然存在，可能需要更详细地检查你的配置文件和启动脚本。

以上为生成回答，仅供参考～

noname

代码如下
----fishbot.ros2_control.xacro---

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros2.org/wiki/xacro">
    <xacro:macro name="fishbot_ros2_control">
        <ros2_control name="FishBotGazeboSystem" type="system">
            <hardware>
                <plugin>gazebo_ros2_control/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">-1</param>
                    <param name="max">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">-1</param>
                    <param name="max">1</param>
                </command_interface>
                <state_interface name="position"/>
                <state_interface name="velocity"/>
                <state_interface name="effort"/>
            </joint>
            <gazebo>
                <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
                    <parameters>$(find roobot_description)/config/fishbot_ros2_controller.yaml</parameters>
                </plugin>
            </gazebo>
        </ros2_control>
        
    </xacro:macro>
</robot>

#fishbot.urdf.xacro
<?xml version="1.0" encoding="UTF-8"?>
<robot name="fishbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:include filename="$(find roobot_description)/urdf/fishbot/base.urdf.xacro"/>
    <xacro:include filename="$(find roobot_description)/urdf/fishbot/sensor/imu.urdf.xacro"/>
    <xacro:include filename="$(find roobot_description)/urdf/fishbot/sensor/laser.urdf.xacro"/>
    <xacro:include filename="$(find roobot_description)/urdf/fishbot/sensor/camera.urdf.xacro" />
    <xacro:include filename="$(find roobot_description)/urdf/fishbot/actuator/caster.urdf.xacro"/>
    <xacro:include filename="$(find roobot_description)/urdf/fishbot/actuator/wheel.urdf.xacro"/>
    <xacro:include filename="$(find roobot_description)/urdf/fishbot/plugins/gazebo_control_plugins.xacro"/> 
    <xacro:include filename="$(find roobot_description)/urdf/fishbot/plugins/gazebo_sensor_plugin.xacro"/>
    <xacro:include filename="$(find roobot_description)/urdf/fishbot/fishbot.ros2_control.xacro"/>
    <xacro:gazebo_sensor_plugin/>
    <!-- <xacro:gazebo_control_plugin/> -->
    <xacro:fishbot_ros2_control/>
    <xacro:base_xacro length="0.12" radius="0.1" />
    <xacro:imu_xacro xyz="0 0 0.02"/>
    <xacro:laser_xacro xyz="0 0 0.1"/>
    <xacro:camera_xacro xyz="0.1 0.0 0.075"/>
    <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"/> 
</robot>

noname

执行ros2 param list的输出如下

ros2 param list
/depth_camera:
  camera_sensor.depth.image_raw.enable_pub_plugins
  camera_sensor.image_raw.enable_pub_plugins
  qos_overrides./clock.subscription.depth
  qos_overrides./clock.subscription.durability
  qos_overrides./clock.subscription.history
  qos_overrides./clock.subscription.reliability
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  update_rate
  use_sim_time
/diff_drive:
  qos_overrides./clock.subscription.depth
  qos_overrides./clock.subscription.durability
  qos_overrides./clock.subscription.history
  qos_overrides./clock.subscription.reliability
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  qos_overrides./tf.publisher.depth
  qos_overrides./tf.publisher.durability
  qos_overrides./tf.publisher.history
  qos_overrides./tf.publisher.reliability
  use_sim_time
/gazebo:
  enable_performance_metrics
  publish_rate
  qos_overrides./clock.subscription.depth
  qos_overrides./clock.subscription.durability
  qos_overrides./clock.subscription.history
  qos_overrides./clock.subscription.reliability
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  use_sim_time
/imu_plugin:
  qos_overrides./clock.subscription.depth
  qos_overrides./clock.subscription.durability
  qos_overrides./clock.subscription.history
  qos_overrides./clock.subscription.reliability
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  use_sim_time
/laserscan:
  qos_overrides./clock.subscription.depth
  qos_overrides./clock.subscription.durability
  qos_overrides./clock.subscription.history
  qos_overrides./clock.subscription.reliability
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  use_sim_time
/robot_state_publisher:
  frame_prefix
  ignore_timestamp
  publish_frequency
  qos_overrides./joint_states.subscription.depth
  qos_overrides./joint_states.subscription.history
  qos_overrides./joint_states.subscription.reliability
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  qos_overrides./tf.publisher.depth
  qos_overrides./tf.publisher.durability
  qos_overrides./tf.publisher.history
  qos_overrides./tf.publisher.reliability
  qos_overrides./tf_static.publisher.depth
  qos_overrides./tf_static.publisher.history
  qos_overrides./tf_static.publisher.reliability
  robot_description
  use_sim_time

检查node的列表如下

$ ros2 node list
/depth_camera
/diff_drive
/gazebo
/imu_plugin
/laserscan
/robot_state_publisher

小鱼

@noname 在执行6.5.2章节中关于ros2_control的代码时，发现输出端并没有显示从yaml文件读取参数，成功激活硬件的信息中说：

[spawn_entity.py-4] [INFO] [1735271572.828264473] [spawn_entity]: Spawn status: Entity [fishbot] already exists.

要看懂提示才行，你的world世界不干净，里面有机器人了，重新搞一个没有机器人的world

noname

@小鱼好的，谢谢。我当时尝试了直接在原图删除然后保存，但是没作用，没想到重新创建一个。