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    新买的二驱小车， 通过micro ros agent连接电脑后，ros2 node list没有对于node

    已定时 已固定 已锁定 已移动
    FishBot二驱机器人
    fishbot agent 编译出错
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    • R
      realez 年度VIP
      最后由 编辑

      硬件环境是x86-64的物理机，ubuntu22，ros2 humble
      代码来自于https://github.com/fishros/fishbot_motion_control_microros.git
      但是默认情况下编译报错，修改micro_ros_platformio的git地址，可以正常编译，烧写
      lib_deps =
      ; https://github.com/micro-ROS/micro_ros_platformio#main
      https://gitee.com/ohhuo/micro_ros_platformio.git

      通过docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6启动后，有大量日志输出
      [1741241003.186936] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x69AE27AA, len: 324, data:
      0000: 81 01 75 03 07 01 3C 01 03 8C 00 15 AB 3A C9 67 40 C5 4F 0A 04 00 00 00 69 6D 75 00 00 00 00 80
      。。。
      [1741241003.187025] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 312, data:
      0000: AB 3A C9 67 40 C5 4F 0A 04 00 00 00 69 6D 75 00 00 00 00 80 14 26 56 3F 00 00 00 20 5A 6A 32 3F
      0020: 00 00 00 40 87 34 CC BF 00

      在ubuntu上ros2 node list没有任何输出

      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

        针对你提到的问题，我们可以从几个方面进行排查和解决：

        1. 确保Micro-ROS Agent与ROS 2节点的通信：

          • 首先，确保你的Micro-ROS Agent正在正确运行，并且已经正确配置为与你的ROS 2节点通信。从你提供的日志来看，Micro-ROS Agent似乎正在接收和发送数据，这表明它至少在某种程度上是工作的。
          • 检查你的Micro-ROS Agent是否运行在正确的网络接口和端口上。在你的命令中，你指定了udp4 --port 8888，确保你的嵌入式设备也配置为向这个地址和端口发送数据。

        2. 检查ROS 2节点的配置：

          • 确保你的ROS 2节点（运行在嵌入式设备上的Micro-ROS应用）已经正确初始化，并且正在尝试发布或订阅话题，或者提供/使用服务。节点如果没有任何活动（如没有发布或订阅任何话题），ros2 node list可能不会显示它，因为它在ROS 2网络中实际上没有“活动”。
          • 检查嵌入式设备的Micro-ROS代码，确保它正确设置了ROS 2节点名，并且节点名没有与ROS 2系统中的其他节点冲突。

        3. 检查网络连接：

          • 确保你的物理机（运行ROS 2核心）和嵌入式设备（运行Micro-ROS应用）在同一个网络上，或者至少能够相互通信。你可以使用ping命令来测试网络连接。
          • 如果使用UDP进行通信，确保没有防火墙规则阻止UDP端口8888的通信。

        4. 查看ROS 2和Micro-ROS的日志：

          • 在你的ROS 2主机上，尝试运行ros2 topic list和ros2 service list来查看是否有任何话题或服务被发布或提供。
          • 在嵌入式设备上，查看Micro-ROS应用的日志输出，看是否有任何错误或警告信息。

        5. 编译和烧写问题：

          • 你提到修改了micro_ros_platformio的git地址后能够正常编译和烧写。确保你使用的代码库是最新的，或者至少是与你的ROS 2版本兼容的。
          • 如果使用了特定的分支或标签，请检查这些是否与你的ROS 2环境相匹配。

        6. 重启和清理：

          • 有时候，简单的重启Micro-ROS Agent、ROS 2核心或者嵌入式设备可以解决通信问题。
          • 确保在尝试连接之前，ROS 2核心和Micro-ROS Agent都没有残留的进程或资源占用。

        通过上述步骤，你应该能够诊断并解决连接问题。如果问题仍然存在，可能需要更深入地检查代码或配置。

        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
        • R
          realez 年度VIP
          最后由 编辑

          已经搜索了论坛和尝试解决，花费了一天时间暂时没有成功，中间还有的问题：
          https://fishros.com/d2lros2/#/humble/chapt14/basic/2.你的第一个MicroROS节点
          编译这个demo成功，启动agent后有数据收发和截图一样，但是ros2 node list一样没有信息
          ros2 run teleop_twist_keyboard teleop_twist_keyboard 遥控没有反应
          第一次启动用手机遥控正常

          1 条回复 最后回复 回复 引用 0
          • R
            realez 年度VIP
            最后由 编辑

            Executing task: platformio run

            Processing fishbot_motion_control_humble (platform: espressif32; board: featheresp32; framework: arduino)

            Verbose mode can be enabled via -v, --verbose option
            CONFIGURATION: https://docs.platformio.org/page/boards/espressif32/featheresp32.html
            PLATFORM: Espressif 32 (6.3.1) > Adafruit ESP32 Feather
            HARDWARE: ESP32 240MHz, 320KB RAM, 4MB Flash
            DEBUG: Current (cmsis-dap) External (cmsis-dap, esp-bridge, esp-prog, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa)
            PACKAGES:

            • framework-arduinoespressif32 @ 3.20009.0 (2.0.9)
            • tool-esptoolpy @ 1.40501.0 (4.5.1)
            • toolchain-xtensa-esp32 @ 8.4.0+2021r2-patch5
              LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
              LDF Modes: Finder ~ chain, Compatibility ~ soft
              Installing importlib-resources with pip at PlatformIO environment
              /home/robot/.platformio/penv/bin/python -m pip install importlib-resources
              Requirement already satisfied: importlib-resources in /home/robot/.platformio/penv/lib/python3.10/site-packages (6.5.2)
              Installing pyyaml with pip at PlatformIO environment
              /home/robot/.platformio/penv/bin/python -m pip install pyyaml
              Requirement already satisfied: pyyaml in /home/robot/.platformio/penv/lib/python3.10/site-packages (6.0.2)
              Installing markupsafe==2.0.1 with pip at PlatformIO environment
              /home/robot/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
              Requirement already satisfied: markupsafe==2.0.1 in /home/robot/.platformio/penv/lib/python3.10/site-packages (2.0.1)
              Installing empy==3.3.4 with pip at PlatformIO environment
              /home/robot/.platformio/penv/bin/python -m pip install empy==3.3.4
              Requirement already satisfied: empy==3.3.4 in /home/robot/.platformio/penv/lib/python3.10/site-packages (3.3.4)
              Configuring featheresp32 with transport custom
              Downloading micro-ROS dev dependencies
              - Downloaded ament_cmake
              - Downloaded ament_lint
              - Downloaded ament_package
              - Downloaded googletest
              - Downloaded ament_cmake_ros
              - Downloaded ament_index
              Building micro-ROS dev dependencies
              Downloading micro-ROS library
              - Downloaded microcdr
              - Downloaded microxrcedds_client
              - Downloaded rcl
              - Downloaded rcl_yaml_param_parser (ignored)
              - Downloaded rcl_lifecycle
              - Downloaded rcl_action
              - Downloaded rclc_lifecycle
              - Downloaded rclc_parameter
              - Downloaded rclc_examples (ignored)
              - Downloaded rclc
              - Downloaded micro_ros_utilities
              - Downloaded rcutils
              - Downloaded micro_ros_msgs
              - Downloaded rmw_microxrcedds
              - Downloaded rosidl_typesupport_c
              - Downloaded rosidl_typesupport_cpp (ignored)
              - Downloaded rosidl_typesupport_microxrcedds_cpp (ignored)
              - Downloaded rosidl_typesupport_microxrcedds_cpp_tests
              - Downloaded rosidl_typesupport_microxrcedds_test_msg
              - Downloaded rosidl_typesupport_microxrcedds_c_tests
              - Downloaded rosidl_typesupport_microxrcedds_c
              - Downloaded rosidl_typesupport_introspection_tests
              - Downloaded rosidl_generator_cpp (ignored)
              - Downloaded rosidl_typesupport_introspection_cpp (ignored)
              - Downloaded rosidl_generator_c
              - Downloaded rosidl_typesupport_introspection_c
              - Downloaded rosidl_parser
              - Downloaded rosidl_adapter
              - Downloaded rosidl_typesupport_interface
              - Downloaded rosidl_runtime_c
              - Downloaded rosidl_cmake
              - Downloaded rosidl_runtime_cpp (ignored)
              - Downloaded rosidl_cli
              - Downloaded rmw
              - Downloaded rmw_implementation_cmake
              - Downloaded action_msgs
              - Downloaded test_msgs
              - Downloaded builtin_interfaces
              - Downloaded statistics_msgs
              - Downloaded rosgraph_msgs
              - Downloaded rcl_interfaces
              - Downloaded composition_interfaces
              - Downloaded lifecycle_msgs
              - Downloaded rosidl_default_generators
              - Downloaded rosidl_default_runtime
              - Downloaded unique_identifier_msgs
              - Downloaded sensor_msgs
              - Downloaded geometry_msgs
              - Downloaded common_interfaces
              - Downloaded visualization_msgs
              - Downloaded std_msgs
              - Downloaded std_srvs
              - Downloaded trajectory_msgs
              - Downloaded shape_msgs
              - Downloaded sensor_msgs_py
              - Downloaded actionlib_msgs
              - Downloaded diagnostic_msgs
              - Downloaded stereo_msgs
              - Downloaded nav_msgs
              - Downloaded test_interface_files
              - Downloaded test_rmw_implementation
              - Downloaded rmw_implementation
              - Downloaded rcl_logging_noop
              - Downloaded rcl_logging_spdlog (ignored)
              - Downloaded rcl_logging_interface
              - Downloaded tracetools_test
              - Downloaded test_tracetools
              - Downloaded ros2trace
              - Downloaded tracetools_read
              - Downloaded tracetools_trace
              - Downloaded test_tracetools_launch
              - Downloaded tracetools
              - Downloaded tracetools_launch
              Checking extra packages
              - Adding fishbot_interfaces
              Building micro-ROS library
              Build mcu micro-ROS environment failed:
              --- stderr: rosidl_runtime_c
              CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
              Package 'rcutils' exports library 'dl' which couldn't be found
              Call Stack (most recent call first):
              /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
              CMakeLists.txt:15 (find_package)

            --- stderr: rcl_logging_interface
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            CMakeLists.txt:19 (find_package)

            --- stderr: rmw
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            CMakeLists.txt:21 (find_package)

            --- stderr: rcl_logging_noop
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcl_logging_interface/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcl_logging_interface/cmake/rcl_logging_interfaceConfig.cmake:41 (include)
            CMakeLists.txt:15 (find_package)

            --- stderr: rosidl_typesupport_microxrcedds_c
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
            CMakeLists.txt:22 (find_package)

            --- stderr: micro_ros_utilities
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_cConfig.cmake:41 (include)
            CMakeLists.txt:18 (find_package)

            --- stderr: rosidl_typesupport_c
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            CMakeLists.txt:33 (find_package)

            --- stderr: builtin_interfaces
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
            CMakeLists.txt:14 (find_package)

            CMake Error at /home/robot/ros2_humble/install/rosidl_typesupport_fastrtps_c/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c-extras.cmake:5 (find_package):
            Could not find a configuration file for package "fastcdr" that is
            compatible with requested version "".

            The following configuration files were considered but not accepted:

            /home/robot/ros2_humble/install/fastcdr/lib/cmake/fastcdr/fastcdr-config.cmake, version: 1.0.24 (64bit)

            Call Stack (most recent call first):
            /home/robot/ros2_humble/install/rosidl_typesupport_fastrtps_c/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
            CMakeLists.txt:14 (find_package)

            Failed <<< builtin_interfaces [1.95s, exited with code 1]

            ====================================================== [FAILED] Took 138.28 seconds ======================================================

            • The terminal process "platformio 'run'" terminated with exit code: 1.
            • Terminal will be reused by tasks, press any key to close it.

            编译报错的日志

            1 条回复 最后回复 回复 引用 0
            • R
              realez 年度VIP
              最后由 编辑

              换了台电脑，连到虚拟机上正常了
              但是物理机上的问题还希望可以解决

              小鱼小 R 2 条回复 最后回复 回复 引用 0
              • 小鱼小
                小鱼 技术大佬 @realez
                最后由 编辑

                @realez 用我们编译好的固件呢

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

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                • R
                  realez 年度VIP @小鱼
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                  @小鱼 经过重新安装wsl，使用docker版本的micro ros agent依然不行，通过nc -lv -u等可以收到数据，但是docker仍然不行
                  重新编译micro ros agent，这个是可以的，现在可以控制小车了
                  然后测试雷达，在wsl和物理机上都没有/scan topic，都是使用的默认固件

                  [INFO] [ydlidar_node-2]: process has finished cleanly [pid 266]
                  #?

                  1. WIFI转串口测试
                  2. 驱动雷达
                  3. 建图测试
                  4. 退出
                    #? 2
                    [INFO] [launch]: All log files can be found below /root/.ros/log/2025-03-07-06-46-24-224878-1ec9d1e7afc9-294
                    [INFO] [launch]: Default logging verbosity is set to INFO
                    [INFO] [tcp_server-1]: process started with pid [295]
                    [tcp_server-1] [INFO] [1741329984.813777499] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser
                    [tcp_server-1] [INFO] [1741329984.814272171] [tcp_socket_server_node]: 等待接受连接..
                    [tcp_server-1] [INFO] [1741329984.819953389] [tcp_socket_server_node]: 来自('172.17.0.1', 52504)的连接已建立
                    [INFO] [ydlidar_node-2]: process started with pid [318]
                    [ydlidar_node-2] [INFO] [1741329988.189255796] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
                    [ydlidar_node-2]
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] SDK initializing
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] SDK has been initialized
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] SDK Version: 1.2.9
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Connect elapsed time 0 ms
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Lidar successfully connected [/tmp/tty_laser:115200]
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Lidar running correctly! The health status good
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Current Lidar Model Code 12
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Check status, Elapsed time 0 ms
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Lidar init success, Elapsed time [0]ms
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Start to getting intensity flag
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] Auto set intensity 0
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] [YDLIDAR] End to getting intensity flag
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] [YDLIDAR] Create thread 0xD6F8F640
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] Successed to start scan mode, Elapsed time 1748 ms
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] Fixed Size: 720
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Single Fixed Size: 440
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Successed to check the lidar, Elapsed time 541 ms
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Now lidar is scanning...
                    [ydlidar_node-2] [2025-03-07 06:46:48][error] Check Sum 0x6AEB != 0x7A6F
                    [ydlidar_node-2] [2025-03-07 06:46:58][error] Check Sum 0x6E44 != 0x6E98
                    [ydlidar_node-2] [2025-03-07 06:47:27][error] Check Sum 0x6C3F != 0x7CE0
                    [ydlidar_node-2] [2025-03-07 06:47:33][error] Check Sum 0xD455 != 0xC98D
                    [ydlidar_node-2] [2025-03-07 06:47:55][error] Check Sum 0x143C != 0x0B93
                    [ydlidar_node-2] [2025-03-07 06:48:43][error] Check Sum 0x6A2D != 0x6D12
                    [ydlidar_node-2] [YDLIDAR ERROR]: -1 No error
                    [ydlidar_node-2] [ERROR] [1741330125.710855634] [ydlidar_node]: Failed to get scan
                    [ydlidar_node-2] [2025-03-07 06:48:45][error] Timeout count: 1
                    [ydlidar_node-2] [2025-03-07 06:48:54][error] Check Sum 0x66F2 != 0x6021
                    [ydlidar_node-2] [2025-03-07 06:49:38][error] Check Sum 0x522B != 0x2A94
                    [ydlidar_node-2] [2025-03-07 06:50:20][error] Check Sum 0x6BE9 != 0x35
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                  • R
                    realez 年度VIP
                    最后由 编辑

                    补充之前遇到的问题和处理方式
                    第一个wsl，ros2 node list无输出，未解决，放弃
                    安装第二个wsl，完全使用firshros安装，出现过ros2 node list卡住，重启daemon解决
                    物理机ros2 node list无输出，topic无输出，但是micro ros agent可以连接，可以控制小车

                    小鱼小 4 2 条回复 最后回复 回复 引用 0
                    • R
                      realez 年度VIP @realez
                      最后由 编辑

                      @realez 雷达的测试程序，有没有可执行程序而不是docker

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                      • R
                        realez 年度VIP
                        最后由 编辑

                        在之前virtualbox的ubuntu虚拟机中，测试雷达可以，但是这个虚拟机很卡，做了很多调整还是不行
                        建图质量不好，数据丢的很多

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                        • 小鱼小
                          小鱼 技术大佬 @realez
                          最后由 编辑

                          @realez 雷达的测试程序，有没有可执行程序而不是docker 这个看视频教程或者数据9.5有介绍方法

                          wsl估计是网络穿透问题，我之前没有测试通过过

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

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                          • 4
                            484232542 @realez
                            最后由 编辑

                            @realez 您好，想请教一下，我在用wsl的时候也出现了类似的问题，通过docker启动micro ros agent可以收到小车消息，终端也一直在打印，但是ros2 node list看不到小车节点，请问您知道解决方法吗？感谢！e739fc80-42a0-4a22-9501-3c95171f99a0-e0bdfca7af6aa654976c3943faa88fce.png f8b1cce4-b6a5-401f-97be-70e9deb13fb8-1af36ec42fb8db4b904fa15a583b7504_720.png

                            小鱼小 R 2 条回复 最后回复 回复 引用 0
                            • 小鱼小
                              小鱼 技术大佬 @484232542
                              最后由 编辑

                              @484232542 系统信息，用户信息 报一下

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

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                              • 4
                                484232542 @小鱼
                                最后由 编辑

                                @小鱼 wsl2+ubuntu22.04，ros2 humble，电脑和小车接同一个路由器，2.4G频段。电脑ip192.168.31.128（防火墙已关，用同一个局域网的其他电脑可以ping通我的电脑），小车ip 192.168.31.145。电脑可以ping通小车，在docker中也收到了小车消息并在终端打印，但小车显示屏上显示wifi: ping timeout。

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                                • 4
                                  484232542 @484232542
                                  最后由 编辑

                                  @484232542 我在ubuntu22.04里写了个发udp消息的python脚本，并在同一个局域网的另一台电脑上监听对应端口，也是可以正常收到我电脑的消息的。

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                                  • R
                                    realez 年度VIP @484232542
                                    最后由 编辑

                                    @484232542 我一般重启ros dameon就好了
                                    pkill -f "ros2 _daemon"
                                    ros2 daemon start
                                    ros2 daemon status
                                    ros2 node list --no-daemon #如果这条能打印node，应该就是daemon导致的服务发现问题

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                                    • 4
                                      484232542 @realez
                                      最后由 编辑

                                      @realez 您好，非常感谢您的回复！我的操作过程是这样的：

                                      1. ros2 daemon stop
                                        The daemon has been stopped
                                      2. ros2 daemon status
                                        The daemon is not running
                                      3. ros2 daemon start
                                        The daemon has been started
                                      4. ros2 daemon status
                                        The daemon is running
                                      5. ros2 node list --no-daemon
                                        仍然没有显示任何的node，可能不是这个类型的问题。
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                                      • 4
                                        484232542 @484232542
                                        最后由 编辑

                                        @484232542 另外，还发现了一个问题，docker容器启动后，终端打印的日志debug信息只有UDPv4AgentLinux.cpp | recv_message和UDPv4AgentLinux.cpp | send_message
                                        ca6cf49c-7700-4a9c-b154-d7b91bfcd4aa-708541394c31b1da5ba16af6f7935c6f.png
                                        但根据视频教程“9.0.3. 主控板固件烧录与配置”，应该会要有下图红框所示的其他日志消息
                                        9987af9c-a63b-4fe4-9d8a-3e5f995f6482-f5d1f5085cf443375b3c080955c997ba.png
                                        214d6de0-d9ee-48d1-ac2d-6cad21f94018-5a092c8906ded7db0a4fc6bd46e5fb95.png

                                        小鱼小 1 条回复 最后回复 回复 引用 0
                                        • 小鱼小
                                          小鱼 技术大佬 @484232542
                                          最后由 编辑

                                          @484232542 感觉是 wsl2 问题，建议用虚拟机或者实体机试试

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

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