配置激活map_server报错，Transitioning failed

追逐我的明天

问题：配置map_server时报错
日志信息：

gh@GH:~/d2lros2/fishbot_ws$ ros2 lifecycle set /map_server configure
Transitioning failed.

gh@GH:~/d2lros2/fishbot_ws/src/fishbot_cartographer/map$ ros2 run nav2_map_server map_server --ros-args --param yaml_filename:=map/fishbot_map.yaml
[INFO] [1656741944.979581062] [map_server]: 
        map_server lifecycle node launched. 
        Waiting on external lifecycle transitions to activate
        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1656741944.979709069] [map_server]: Creating
[INFO] [1656741951.041427042] [map_server]: Configuring
[INFO] [map_io]: Loading yaml file: map/fishbot_map.yaml
[ERROR] [map_io]: Failed processing YAML file map/fishbot_map.yaml at position (-1:-1) for reason: bad file: map/fishbot_map.yaml
[ERROR] [1656741951.041649603] []: Caught exception in callback for transition 10
[ERROR] [1656741951.041680812] []: Original error: Failed to load map yaml file: map/fishbot_map.yaml
[WARN] [1656741951.041701873] []: Error occurred while doing error handling.
[FATAL] [1656741951.041728823] [map_server]: Lifecycle node map_server does not have error state implemented

用TAB补全ros2 lifecycle set /map_server没有configure提示

小鱼

@追逐我的明天在配置激活map_server报错，Transitioning failed 中说：

Failed processing YAML file map/fishbot_map.yaml at position (-1:-1) for reason: bad file: map/fishbot_map.yaml

这个错误一般是map文件地址不对

小鱼

@追逐我的明天 Nav2相关的发在nav2版块，发这个版块是看不到滴

追逐我的明天

@小鱼改正地址后在rviz中看不到地图
日志信息如下：
[INFO] [1656772741.967460246] [map_server]: Creating
[INFO] [1656772760.901393518] [map_server]: Configuring
[INFO] [map_io]: Loading yaml file: fishbot_map.yaml
[DEBUG] [map_io]: resolution: 0.05
[DEBUG] [map_io]: origin[0]: -3.35
[DEBUG] [map_io]: origin[1]: -2.9
[DEBUG] [map_io]: origin[2]: 0
[DEBUG] [map_io]: free_thresh: 0.25
[DEBUG] [map_io]: occupied_thresh: 0.65
[DEBUG] [map_io]: mode: trinary
[DEBUG] [map_io]: negate: 0
[INFO] [map_io]: Loading image_file: ./fishbot_map.pgm
[DEBUG] [map_io]: Read map ./fishbot_map.pgm: 134 X 119 map @ 0.05 m/cell
[INFO] [1656772765.547893749] [map_server]: Activating
[INFO] [1656772765.548063166] [map_server]: Creating bond (map_server) to lifecycle manager.

小鱼

@追逐我的明天下一步activate了吗

追逐我的明天

@小鱼 activate了都成功了

小鱼

@追逐我的明天 ros2 topic info /map -v

用上面指令看一下发布者的qos和订阅者是否相同，不用则改一下rviz里的配置

追逐我的明天

@小鱼

gh@GH:~$ ros2 topic info /map -v
Type: nav_msgs/msg/OccupancyGrid

Publisher count: 1

Node name: map_server
Node namespace: /
Topic type: nav_msgs/msg/OccupancyGrid
Endpoint type: PUBLISHER
GID: 01.0f.ba.40.f1.19.40.6c.01.00.00.00.00.00.1f.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: TRANSIENT_LOCAL
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 1

Node name: rviz
Node namespace: /
Topic type: nav_msgs/msg/OccupancyGrid
Endpoint type: SUBSCRIPTION
GID: 01.0f.ba.40.2a.1a.2d.5b.01.00.00.00.00.00.2c.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Durability不同，如何修改

小鱼

@追逐我的明天在rviz地图插件里面找一下，有这个选项

追逐我的明天

@小鱼修改后还是没有地图显示

追逐我的明天

@小鱼仍无法解决，已经将Qos配置成一样的

小鱼

@追逐我的明天你先启动rviz2，之后再来一次配置和激活

追逐我的明天

@小鱼启动rviz后激活又报了两个错
2022-07-03 11:53:13.420 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7425: open_and_lock_file failed -> Function open_port_internal
2022-07-03 11:53:13.420 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7427: open_and_lock_file failed -> Function open_port_internal
重启后不报错，但仍然无法加载地图

小鱼

@追逐我的明天这个重启下机器试试

追逐我的明天

@小鱼重启了但还是无法加载地图，后边用Nav2单点导航也无法加载

小鱼

@追逐我的明天在配置激活map_server报错，Transitioning failed 中说：

重启了但还是无法加载地图，后边用Nav2单点导航也无法加载

你再试试我的代码，我在humble调通后才上传的

追逐我的明天

@小鱼就是用的你的

小鱼

@追逐我的明天从文档复制粘贴的，还是直接下载的仓库

追逐我的明天

@小鱼粘贴了功能包

小鱼

@追逐我的明天从哪个仓库，humble版本的吗