就是在9.0.6雷达驱动及建图测试的过程中，前两个阶段都比较顺利，但是第三个阶段，建图测试的时候，我回到选择界面，按3，然后并没有弹出rviz界面，而是一直在刷新数据，我也不知道刷新了什么

zqq

WIFI转串口测试
驱动雷达
建图测试
退出
#? 3
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-03-18-07-16-14-260152-89dc48de1ded-110
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [tcp_server-1]: process started with pid [111]
[INFO] [static_transform_publisher-2]: process started with pid [113]
[INFO] [cartographer_node-3]: process started with pid [115]
[INFO] [cartographer_occupancy_grid_node-4]: process started with pid [117]
[INFO] [rviz2-5]: process started with pid [119]
[static_transform_publisher-2] [WARN] [1742282174.407337123] []: Old-style arguments are deprecated; see --help for new-style arguments
[tcp_server-1] [INFO] [1742282174.413132860] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser
[tcp_server-1] [INFO] [1742282174.413347541] [tcp_socket_server_node]: 等待接受连接..
[static_transform_publisher-2] [INFO] [1742282174.434764544] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'laser_frame'
[tcp_server-1] [INFO] [1742282174.771090511] [tcp_socket_server_node]: 来自('192.168.1.151', 51992)的连接已建立
[cartographer_node-3] [INFO] [1742282174.783821045] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/workspace/launch/config/fishbot_laser_2d.lua' for 'fishbot_laser_2d.lua'.
[cartographer_node-3] [INFO] [1742282174.794832182] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1742282174.798946834] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1742282174.803431429] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1742282174.803489826] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1742282174.807891195] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1742282174.807933326] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1742282174.811977214] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1742282174.812036693] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1742282174.816202538] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-3] [INFO] [1742282174.816242068] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-3] [INFO] [1742282174.885350957] [cartographer logger]: I0318 07:16:14.000000 115 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
[rviz2-5] qt.qpa.xcb: could not connect to display unix:0
[rviz2-5] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
[rviz2-5] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
[rviz2-5]
[rviz2-5] Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.
[rviz2-5]
[ERROR] [rviz2-5]: process has died [pid 119, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /workspace/launch/config/map.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_1azjgqtw'].
[INFO] [ydlidar_node-6]: process started with pid [177]
[ydlidar_node-6] [INFO] [1742282177.381529536] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_node-6]
[ydlidar_node-6] [2025-03-18 07:16:17][info] SDK initializing
[ydlidar_node-6] [2025-03-18 07:16:17][info] SDK has been initialized
[ydlidar_node-6] [2025-03-18 07:16:17][info] SDK Version: 1.2.9
[ydlidar_node-6] [2025-03-18 07:16:17][info] Connect elapsed time 0 ms
[ydlidar_node-6] [2025-03-18 07:16:17][info] Lidar successfully connected [/tmp/tty_laser:115200]
[ydlidar_node-6] [2025-03-18 07:16:17][info] Lidar running correctly! The health status good
[ydlidar_node-6] [2025-03-18 07:16:17][info] Current Lidar Model Code 12
[ydlidar_node-6] [2025-03-18 07:16:17][info] Check status, Elapsed time 0 ms
[ydlidar_node-6] [2025-03-18 07:16:17][info] Lidar init success, Elapsed time [0]ms
[ydlidar_node-6] [2025-03-18 07:16:17][info] Start to getting intensity flag
[ydlidar_node-6] [2025-03-18 07:16:18][info] Auto set intensity 0
[ydlidar_node-6] [2025-03-18 07:16:18][info] [YDLIDAR] End to getting intensity flag
[ydlidar_node-6] [2025-03-18 07:16:18][info] [YDLIDAR] Create thread 0x66A00640
[ydlidar_node-6] [2025-03-18 07:16:19][info] Successed to start scan mode, Elapsed time 1742 ms
[ydlidar_node-6] [2025-03-18 07:16:19][info] Scan Frequency: 5.00Hz
[ydlidar_node-6] [2025-03-18 07:16:19][info] Fixed Size: 720
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Scan Frequency: 5.00Hz
[ydlidar_node-6] [2025-03-18 07:16:19][info] Fixed Size: 720
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Scan Frequency: 5.00Hz
[ydlidar_node-6] [2025-03-18 07:16:19][info] Fixed Size: 720
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Scan Frequency: 5.00Hz
[ydlidar_node-6] [2025-03-18 07:16:19][info] Fixed Size: 720
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Scan Frequency: 5.00Hz
[ydlidar_node-6] [2025-03-18 07:16:19][info] Fixed Size: 720
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Single Fixed Size: 450
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Successed to check the lidar, Elapsed time 537 ms
[ydlidar_node-6] [2025-03-18 07:16:19][info] Now lidar is scanning...
[cartographer_node-3] [INFO] [1742282179.809173934] [cartographer logger]: I0318 07:16:19.000000 115 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638778789796612080'.
[cartographer_node-3] [WARN] [1742282179.817727146] [cartographer logger]: W0318 07:16:19.000000 115 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 s
[cartographer_node-3] [INFO] [1742282179.819034899] [cartographer logger]: I0318 07:16:19.000000 115 pose_graph_2d.cc:148] Inserted submap (0, 0).
[cartographer_node-3] [WARN] [1742282180.258728613] [cartographer logger]: W0318 07:16:20.000000 115 range_data_collator.cc:82] Dropped 52 earlier points.
[cartographer_node-3] [WARN] [1742282180.559662653] [cartographer logger]: W0318 07:16:20.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282180.854979332] [cartographer logger]: W0318 07:16:20.000000 115 range_data_collator.cc:82] Dropped 14 earlier points.
[cartographer_node-3] [WARN] [1742282181.452592098] [cartographer logger]: W0318 07:16:21.000000 115 range_data_collator.cc:82] Dropped 117 earlier points.
[cartographer_node-3] [WARN] [1742282181.904926444] [cartographer logger]: W0318 07:16:21.000000 115 range_data_collator.cc:82] Dropped 9 earlier points.
[cartographer_node-3] [WARN] [1742282182.200881083] [cartographer logger]: W0318 07:16:22.000000 115 range_data_collator.cc:82] Dropped 4 earlier points.
[cartographer_node-3] [WARN] [1742282182.403099234] [cartographer logger]: W0318 07:16:22.000000 115 range_data_collator.cc:82] Dropped 10 earlier points.
[cartographer_node-3] [WARN] [1742282182.650038861] [cartographer logger]: W0318 07:16:22.000000 115 sensor_bridge.cpp:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 638778789826043840 is not before current subdivision time 638778789825982490
[cartographer_node-3] [WARN] [1742282183.098456685] [cartographer logger]: W0318 07:16:23.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282183.548723944] [cartographer logger]: W0318 07:16:23.000000 115 range_data_collator.cc:82] Dropped 31 earlier points.
[cartographer_node-3] [WARN] [1742282184.163143911] [cartographer logger]: W0318 07:16:24.000000 115 range_data_collator.cc:82] Dropped 39 earlier points.
[cartographer_node-3] [WARN] [1742282184.444908117] [cartographer logger]: W0318 07:16:24.000000 115 range_data_collator.cc:82] Dropped 84 earlier points.
[cartographer_node-3] [WARN] [1742282184.926914117] [cartographer logger]: W0318 07:16:24.000000 115 range_data_collator.cc:82] Dropped 6 earlier points.
[cartographer_node-3] [WARN] [1742282185.192605862] [cartographer logger]: W0318 07:16:25.000000 115 range_data_collator.cc:82] Dropped 190 earlier points.
[cartographer_node-3] [WARN] [1742282185.650670656] [cartographer logger]: W0318 07:16:25.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282185.940130448] [cartographer logger]: W0318 07:16:25.000000 115 range_data_collator.cc:82] Dropped 54 earlier points.
[cartographer_node-3] [WARN] [1742282186.237015899] [cartographer logger]: W0318 07:16:26.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282186.386786381] [cartographer logger]: W0318 07:16:26.000000 115 range_data_collator.cc:82] Dropped 2 earlier points.
[cartographer_node-3] [WARN] [1742282186.835958434] [cartographer logger]: W0318 07:16:26.000000 115 range_data_collator.cc:82] Dropped 223 earlier points.
[cartographer_node-3] [WARN] [1742282187.134746099] [cartographer logger]: W0318 07:16:27.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282187.583547099] [cartographer logger]: W0318 07:16:27.000000 115 range_data_collator.cc:82] Dropped 10 earlier points.
[cartographer_node-3] [WARN] [1742282188.030916785] [cartographer logger]: W0318 07:16:28.000000 115 range_data_collator.cc:82] Dropped 9 earlier points.
[cartographer_node-3] [WARN] [1742282188.479774967] [cartographer logger]: W0318 07:16:28.000000 115 range_data_collator.cc:82] Dropped 3 earlier points.
[cartographer_node-3] [WARN] [1742282189.078006295] [cartographer logger]: W0318 07:16:29.000000 115 range_data_collator.cc:82] Dropped 19 earlier points.
[cartographer_node-3] [WARN] [1742282189.376394083] [cartographer logger]: W0318 07:16:29.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282189.697099460] [cartographer logger]: W0318 07:16:29.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [INFO] [1742282189.974747131] [cartographer logger]: I0318 07:16:29.000000 115 collated_trajectory_builder.cc:81] scan rate: 6.51 Hz 1.54e-01 s +/- 3.66e-02 s (pulsed at 101.24% real time)
[cartographer_node-3] [WARN] [1742282189.974920390] [cartographer logger]: W0318 07:16:29.000000 115 range_data_collator.cc:82] Dropped 119 earlier points.
[cartographer_node-3] [WARN] [1742282190.596111241] [cartographer logger]: W0318 07:16:30.000000 115 range_data_collator.cc:82] Dropped 2 earlier points.
[cartographer_node-3] [WARN] [1742282190.870878398] [cartographer logger]: W0318 07:16:30.000000 115 range_data_collator.cc:82] Dropped 116 earlier points.
[cartographer_node-3] [WARN] [1742282191.468083383] [cartographer logger]: W0318 07:16:31.000000 115 range_data_collator.cc:82] Dropped 9 earlier points.
[cartographer_node-3] [WARN] [1742282191.619180469] [cartographer logger]: W0318 07:16:31.000000 115 range_data_collator.cc:82] Dropped 7 earlier points.
[cartographer_node-3] [WARN] [1742282191.917266040] [cartographer logger]: W0318 07:16:31.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282192.515083321] [cartographer logger]: W0318 07:16:32.000000 115 range_data_collator.cc:82] Dropped 25 earlier points.
[cartographer_node-3] [WARN] [1742282192.967741909] [cartographer logger]: W0318 07:16:32.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282193.265712398] [cartographer logger]: W0318 07:16:33.000000 115 range_data_collator.cc:82] Dropped 19 earlier points.
[cartographer_node-3] [WARN] [1742282193.564906565] [cartographer logger]: W0318 07:16:33.000000 115 range_data_collator.cc:82] Dropped 9 earlier points.
[cartographer_node-3] [WARN] [1742282193.862554749] [cartographer logger]: W0318 07:16:33.000000 115 range_data_collator.cc:82] Dropped 10 earlier points.
[cartographer_node-3] [WARN] [1742282194.459087700] [cartographer logger]: W0318 07:16:34.000000 115 range_data_collator.cc:82] Dropped 203 earlier points.
[cartographer_node-3] [WARN] [1742282195.055845167] [cartographer logger]: W0318 07:16:35.000000 115 range_data_collator.cc:82] Dropped 65 earlier points.
[cartographer_node-3] [WARN] [1742282195.503256465] [cartographer logger]: W0318 07:16:35.000000 115 range_data_collator.cc:82] Dropped 12 earlier points.
[cartographer_node-3] [WARN] [1742282196.102098743] [cartographer logger]: W0318 07:16:36.000000 115 range_data_collator.cc:82] Dropped 6 earlier points.
[cartographer_node-3] [WARN] [1742282197.298616236] [cartographer logger]: W0318 07:16:37.000000 115 range_data_collator.cc:82] Dropped 2 earlier points.
[cartographer_node-3] [WARN] [1742282197.447810587] [cartographer logger]: W0318 07:16:37.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282198.045155006] [cartographer logger]: W0318 07:16:38.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282198.195168042] [cartographer logger]: W0318 07:16:38.000000 115 range_data_collator.cc:82] Dropped 13 earlier points.
[cartographer_node-3] [WARN] [1742282198.495529844] [cartographer logger]: W0318 07:16:38.000000 115 range_data_collator.cc:82] Dropped 3 earlier points.
[cartographer_node-3] [WARN] [1742282198.794566177] [cartographer logger]: W0318 07:16:38.000000 115 range_data_collator.cc:82] Dropped 13 earlier points.
[cartographer_node-3] [WARN] [1742282199.090119269] [cartographer logger]: W0318 07:16:39.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282199.239148349] [cartographer logger]: W0318 07:16:39.000000 115 range_data_collator.cc:82] Dropped 21 earlier points.
[cartographer_node-3] [WARN] [1742282199.685850050] [cartographer logger]: W0318 07:16:39.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282199.835490478] [cartographer logger]: W0318 07:16:39.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282200.283775138] [cartographer logger]: W0318 07:16:40.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282200.433826471] [cartographer logger]: W0318 07:16:40.000000 115 range_data_collator.cc:82] Dropped 3 earlier points.
[cartographer_node-3] [WARN] [1742282200.733270330] [cartographer logger]: W0318 07:16:40.000000 115 range_data_collator.cc:82] Dropped 3 earlier points.
[cartographer_node-3] [WARN] [1742282201.031101268] [cartographer logger]: W0318 07:16:41.000000 115 range_data_collator.cc:82] Dropped 3 earlier points.

zqq

@zqq 然后我现在变成这样了欢迎鱼香ROS使用雷达驱动系统，注意当前版本为ROS2版本驱动哦~

WIFI转串口测试
驱动雷达
建图测试
退出
#? 3
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-03-18-07-57-06-052524-b395ca98e080-58
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [tcp_server-1]: process started with pid [59]
[INFO] [static_transform_publisher-2]: process started with pid [61]
[INFO] [cartographer_node-3]: process started with pid [63]
[INFO] [cartographer_occupancy_grid_node-4]: process started with pid [65]
[INFO] [rviz2-5]: process started with pid [67]
[static_transform_publisher-2] [WARN] [1742284626.788526717] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1742284627.056027122] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'laser_frame'
[cartographer_node-3] [INFO] [1742284627.069001366] [cartographer logger]: I0318 07:57:07.000000 63 configuration_file_resolver.cc:41] Found '/workspace/launch/config/fishbot_laser_2d.lua' for 'fishbot_laser_2d.lua'.
[cartographer_node-3] [INFO] [1742284627.081945435] [cartographer logger]: I0318 07:57:07.000000 63 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1742284627.086240464] [cartographer logger]: I0318 07:57:07.000000 63 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1742284627.089523803] [cartographer logger]: I0318 07:57:07.000000 63 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1742284627.089620336] [cartographer logger]: I0318 07:57:07.000000 63 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1742284627.091639778] [cartographer logger]: I0318 07:57:07.000000 63 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1742284627.091728327] [cartographer logger]: I0318 07:57:07.000000 63 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1742284627.094491029] [cartographer logger]: I0318 07:57:07.000000 63 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1742284627.094550608] [cartographer logger]: I0318 07:57:07.000000 63 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1742284627.099048320] [cartographer logger]: I0318 07:57:07.000000 63 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-3] [INFO] [1742284627.099079659] [cartographer logger]: I0318 07:57:07.000000 63 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[tcp_server-1] [INFO] [1742284627.106077844] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser
[tcp_server-1] [INFO] [1742284627.106429726] [tcp_socket_server_node]: 等待接受连接..
[cartographer_node-3] [INFO] [1742284627.197624949] [cartographer logger]: I0318 07:57:07.000000 63 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
[rviz2-5] qt.qpa.xcb: could not connect to display unix:0
[rviz2-5] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
[rviz2-5] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
[rviz2-5]
[rviz2-5] Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.
[rviz2-5]
[ERROR] [rviz2-5]: process has died [pid 67, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /workspace/launch/config/map.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_3y5wdbie'].
[INFO] [ydlidar_node-6]: process started with pid [125]
[ydlidar_node-6] [INFO] [1742284629.554981385] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_node-6]
[ydlidar_node-6] [2025-03-18 07:57:09][info] SDK initializing
[ydlidar_node-6] [2025-03-18 07:57:09][info] SDK has been initialized
[ydlidar_node-6] [2025-03-18 07:57:09][info] SDK Version: 1.2.9
[ydlidar_node-6] [2025-03-18 07:57:09][info] Connect elapsed time 0 ms
[ydlidar_node-6] [2025-03-18 07:57:09][info] Lidar successfully connected [/tmp/tty_laser:115200]
[ydlidar_node-6] [2025-03-18 07:57:09][info] Lidar running correctly! The health status good
[ydlidar_node-6] [2025-03-18 07:57:09][info] Current Lidar Model Code 12
[ydlidar_node-6] [2025-03-18 07:57:09][info] Check status, Elapsed time 0 ms
[ydlidar_node-6] [2025-03-18 07:57:09][info] Lidar init success, Elapsed time [4]ms
[ydlidar_node-6] [2025-03-18 07:57:10][info] Start to getting intensity flag
[ydlidar_node-6] [2025-03-18 07:57:12][info] [YDLIDAR] End to getting intensity flag
[ydlidar_node-6] [2025-03-18 07:57:12][info] [YDLIDAR] Create thread 0x42A00640
[ydlidar_node-6] [2025-03-18 07:57:13][info] Successed to start scan mode, Elapsed time 3561 ms
[ydlidar_node-6] [2025-03-18 07:57:13][error] Timeout count: 1
[ydlidar_node-6] [2025-03-18 07:57:14][error] Timeout count: 2
[ydlidar_node-6] [2025-03-18 07:57:15][error] Timeout count: 3
[ydlidar_node-6] [2025-03-18 07:57:18][error] Timeout count: 1
[ydlidar_node-6] [2025-03-18 07:57:19][error] Timeout count: 2
[ydlidar_node-6] [2025-03-18 07:57:20][error] Timeout count: 3
[ydlidar_node-6] [2025-03-18 07:57:22][error] Timeout count: 1
[ydlidar_node-6] [2025-03-18 07:57:23][error] Failed to turn on the Lidar, because the lidar is [Device Failed].
[ydlidar_node-6] [INFO] [1742284643.311473011] [ydlidar_node]: [YDLIDAR INFO] Now YDLIDAR is stopping .......
[INFO] [ydlidar_node-6]: process has finished cleanly [pid 125]
[ydlidar_node-6]

小鱼

@zqq 你把运行xhost+ && docker xxxxx 这段命令的运行结果搞出来看看

小鱼

@zqq 在就是在9.0.6雷达驱动及建图测试的过程中，前两个阶段都比较顺利，但是第三个阶段，建图测试的时候，我回到选择界面，按3，然后并没有弹出rviz界面，而是一直在刷新数据，我也不知道刷新了什么中说：

[rviz2-5] qt.qpa.xcb: could not connect to display unix:0
[rviz2-5] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
[rviz2-5] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
[rviz2-5]

zqq

就是这样，跟教程上的一样好像

@小鱼 fishros@fishros-linux:~$ xhost + && sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=unix$DISPLAY -p 8889:8888 registry.cn-hangzhou.aliyuncs.com/fishros/fishbot_laser
access control disabled, clients can connect from any host
[sudo] fishros 的密码：
欢迎鱼香ROS使用雷达驱动系统，注意当前版本为ROS2版本驱动哦~

WIFI转串口测试
驱动雷达
建图测试
退出
#?

小鱼

@zqq 你可以往后看第几章的建图教程，不用docker的

这里大概率是 qt显示问题，我问了下deepseek，答案你试试

To resolve the Qt platform plugin issues with rviz2 in ROS 2, follow these steps:

1. Verify the DISPLAY Environment Variable:

Ensure you're in a graphical environment (not headless) and the DISPLAY variable is set:
```
echo $DISPLAY  # Should output ':0' or similar
```
If unset, set it temporarily:
```
export DISPLAY=:0
```

2. Install Required XCB Dependencies:

On Ubuntu/Debian, install missing libraries:

sudo apt update && sudo apt install -y libxcb-xinerama0 libxcb-icccm4 libxcb-image0 libxcb-keysyms1 libxcb-render-util0 libxcb-shm0 libxcb-randr0 libxcb-xkb1

3. Grant X Server Access:

Allow local user access to the X server (if permissions are denied):
```
xhost +local:
```

4. Check Qt Plugin Paths (if needed):

Explicitly set the Qt plugin path if plugins aren't detected:

export QT_QPA_PLATFORM_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/

Adjust the path according to your Qt installation.

5. Test with Another Qt Application:

Confirm the issue isn't specific to rviz2 by running another Qt app (e.g., gedit).

6. Reinstall ROS 2/rviz2 (if dependencies are broken):

Reinstall the ROS 2 packages as a last resort:
```
sudo apt reinstall ros-<distro>-rviz2
```

For Headless/Remote Environments (e.g., SSH/Docker):

SSH: Connect with ssh -X or ssh -Y to enable X11 forwarding.
Docker: Mount the X socket and set environment variables:
```
-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY
```
WSL2: Install an X server like VcXsrv or X410 and set DISPLAY accordingly.

After applying these fixes, restart your terminal session and try launching rviz2 again.

小鱼

@小鱼 xhost + && sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=$DISPLAY -p 8889:8888 registry.cn-hangzhou.aliyuncs.com/fishros/fishbot_laser

或者试试这个命令

小鱼

此回复已被删除！