fishbot上有IMU模块，但是第九章最后的小车代码没有IMU部分，想知道这部分代码如何编写

1257261547

@小鱼大佬，昨天我把odom2tf.cpp去掉，修改ekf.yaml文件里的base_link为base_footprint，检查tf树关系 9d4e468f-30e0-495b-8326-222b9c386fca-图片.png
运行导航后，2d位置发布后显示正常，但是设置目标点后，小车没有运动，终端报错[component_container_isolated-1] [WARN] [1745286873.455873172] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [WARN] [1745286929.354618515] [planner_server]: Planner loop missed its desired rate of 20.0000 Hz. Current loop rate is 1.5147 Hz
这可能是什么原因呢？

小鱼

@1257261547 cmd_vel 话题是否正常

1257261547

@小鱼 ros2 topic info /cmd_vel -v
Type: geometry_msgs/msg/Twist

Publisher count: 6

Node name: behavior_server
Node namespace: /
Topic type: geometry_msgs/msg/Twist
Endpoint type: PUBLISHER
GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.01.f8.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Node name: behavior_server
Node namespace: /
Topic type: geometry_msgs/msg/Twist
Endpoint type: PUBLISHER
GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.02.01.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Node name: behavior_server
Node namespace: /
Topic type: geometry_msgs/msg/Twist
Endpoint type: PUBLISHER
GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.02.0a.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Node name: behavior_server
Node namespace: /
Topic type: geometry_msgs/msg/Twist
Endpoint type: PUBLISHER
GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.02.13.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Node name: behavior_server
Node namespace: /
Topic type: geometry_msgs/msg/Twist
Endpoint type: PUBLISHER
GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.02.1e.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Node name: velocity_smoother
Node namespace: /
Topic type: geometry_msgs/msg/Twist
Endpoint type: PUBLISHER
GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.02.69.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Subscription count: 1

Node name: example_xbwbot_motion_control
Node namespace: /
Topic type: geometry_msgs/msg/Twist
Endpoint type: SUBSCRIPTION
GID: 01.0f.ba.99.ac.26.9b.f6.00.00.00.00.00.00.01.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: BEST_EFFORT
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

1257261547

@1257261547 但是使用ros2 topic echo /cmd_vel和ros2 topic hz /cmd_vel都没有回应

1257261547

@小鱼 66dbfae6-6191-4457-9716-a03cd899a15f-图片.png

1257261547

@小鱼 78add93a-fd50-4316-ba58-2cf93bc4bbd1-图片.png

1257261547

@1257261547bringup.launch.py ```
code_text

import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
    fishbot_bringup_dir = get_package_share_directory(
        'xbwbot_bringup')
    ydlidar_ros2_dir = get_package_share_directory(
        'ydlidar')

    urdf2tf = launch.actions.IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [fishbot_bringup_dir, '/launch', '/urdf2tf.launch.py']),
    )

    microros_agent = launch_ros.actions.Node(
        package='micro_ros_agent',
        executable='micro_ros_agent',
        arguments=['udp4','--port','8888'],
        output='screen'
    )

    ros_serail2wifi =  launch_ros.actions.Node(
        package='ros_serail2wifi',
        executable='tcp_server',
        parameters=[{'serial_port': '/tmp/tty_laser'}],
        output='screen'
    )

    ydlidar = launch.actions.IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [ydlidar_ros2_dir, '/launch', '/ydlidar_launch.py']),
    )

    # 使用 TimerAction 启动后 5 秒执行 ydlidar 节点
    ydlidar_delay = launch.actions.TimerAction(period=5.0, actions=[ydlidar])
    
    return launch.LaunchDescription([
        urdf2tf,
        microros_agent,
        ros_serail2wifi,
        ydlidar_delay
    ])
odom2tf.cpp

code_text

#include <rclcpp/rclcpp.hpp>
#include <tf2/utils.h>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>

class OdomTopic2TF : public rclcpp::Node {
public:
  OdomTopic2TF(std::string name) : Node(name) {
    // 创建 odom 话题订阅者，使用传感器数据的 Qos
    odom_subscribe_ = this->create_subscription<nav_msgs::msg::Odometry>(
        "odom", rclcpp::SensorDataQoS(),
        std::bind(&OdomTopic2TF::odom_callback_, this, std::placeholders::_1));
    // 创建一个tf2_ros::TransformBroadcaster用于广播坐标变换
    tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(this);
  }

private:
  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscribe_;
  std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
  // 回调函数，处理接收到的odom消息，并发布tf
  void odom_callback_(const nav_msgs::msg::Odometry::SharedPtr msg) {
    geometry_msgs::msg::TransformStamped transform;
    transform.header = msg->header; // 使用消息的时间戳和框架ID
    transform.child_frame_id = msg->child_frame_id;
    transform.transform.translation.x = msg->pose.pose.position.x;
    transform.transform.translation.y = msg->pose.pose.position.y;
    transform.transform.translation.z = msg->pose.pose.position.z;
    transform.transform.rotation.x = msg->pose.pose.orientation.x;
    transform.transform.rotation.y = msg->pose.pose.orientation.y;
    transform.transform.rotation.z = msg->pose.pose.orientation.z;
    transform.transform.rotation.w = msg->pose.pose.orientation.w;
    // 广播坐标变换信息
    tf_broadcaster_->sendTransform(transform);
  };
};

int main(int argc, char **argv) {
  rclcpp::init(argc, argv);
  auto node = std::make_shared<OdomTopic2TF>("odom2tf");
  rclcpp::spin(node);
  rclcpp::shutdown();
  return 0;
}
navigation2.launch.py

code_text

import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource


def generate_launch_description():
    # 获取与拼接默认路径
    fishbot_navigation2_dir = get_package_share_directory(
        'xbwbot_navigation2')
    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
    rviz_config_dir = os.path.join(
        nav2_bringup_dir, 'rviz', 'nav2_default_view.rviz')
    
    # 创建 Launch 配置
    use_sim_time = launch.substitutions.LaunchConfiguration(
        'use_sim_time', default='true')
    map_yaml_path = launch.substitutions.LaunchConfiguration(
        'map', default=os.path.join(fishbot_navigation2_dir, 'maps', 'room.yaml'))
    nav2_param_path = launch.substitutions.LaunchConfiguration(
        'params_file', default=os.path.join(fishbot_navigation2_dir, 'config', 'nav2_params.yaml'))

    return launch.LaunchDescription([
        # 声明新的 Launch 参数
        launch.actions.DeclareLaunchArgument('use_sim_time', default_value=use_sim_time,
                                             description='Use simulation (Gazebo) clock if true'),
        launch.actions.DeclareLaunchArgument('map', default_value=map_yaml_path,
                                             description='Full path to map file to load'),
        launch.actions.DeclareLaunchArgument('params_file', default_value=nav2_param_path,
                                             description='Full path to param file to load'),

        launch.actions.IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [nav2_bringup_dir, '/launch', '/bringup_launch.py']),
            # 使用 Launch 参数替换原有参数
            launch_arguments={
                'map': map_yaml_path,
                'use_sim_time': use_sim_time,
                'params_file': nav2_param_path}.items(),
        ),
        launch_ros.actions.Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            arguments=['-d', rviz_config_dir],
            parameters=[{'use_sim_time': use_sim_time}],
            output='screen'),
    ])
odom_ekf.launch.py

code_text

import launch
import launch_ros


def generate_launch_description():
    package_name = 'xbwbot_navigation2'

    ld =  launch.LaunchDescription()
    pkg_share = launch_ros.substitutions.FindPackageShare(package=package_name).find(package_name) 

    robot_localization_node = launch_ros.actions.Node(
        package='robot_localization',
        executable='ekf_node',
        name='ekf_filter_node',
        output='screen',
        parameters=[os.path.join(pkg_share, 'config/ekf.yaml'), {'use_sim_time': launch.substitutions.LaunchConfiguration('use_sim_time')}],
        remappings=[('odometry/filtered', 'odom')],
    )

    
    ld.add_action(launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='True',
                                                description='Flag to enable use_sim_time'))
    ld.add_action(robot_localization_node)                                           
    return ld

小鱼

@1257261547 这个是电脑的发布的话题，不是小车发的，这样查不对

小鱼

@1257261547 你先切回不融合的导航，判断一下小车这边有没有问题

1257261547

@小鱼 fb6ab0fc-aae9-4e30-8e9f-62556ac6fe10-图片.png
启动bringup.launch.py后rqt图像，导航也不能正常运行

1257261547

@1257261547 89793abb-de57-486a-836b-49d3d0d37589-图片.png

code_text
main.cpp
#include <Arduino.h>
#include <Esp32PcntEncoder.h>
#include <Esp32McpwmMotor.h>
#include <PidController.h>
#include <Kinematics.h>
#include <Warning.h>
#include <ImuDriver.h>

#include <WiFi.h>
#include <micro_ros_platformio.h>
#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <geometry_msgs/msg/twist.h>
#include <nav_msgs/msg/odometry.h>
#include <micro_ros_utilities/string_utilities.h>
#include <sensor_msgs/msg/imu.h>

rcl_allocator_t allocator;
rclc_support_t support;
rclc_executor_t executor;
rcl_node_t node;
rcl_subscription_t sub_cmd_vel;
geometry_msgs__msg__Twist msg_cmd_vel;

rcl_publisher_t pub_odom;
nav_msgs__msg__Odometry msg_odom;
rcl_timer_t timer;

rcl_publisher_t pub_imu; 
sensor_msgs__msg__Imu msg_imu;

Esp32PcntEncoder encoders[2]; // 创建一个数组用于存储两个编码器
Esp32McpwmMotor motor;        // 创建一个名为motor的对象，用于控制电机
PidController pid_controller[2];
Kinematics kinematics;
MPU6050 mpu(Wire);               // 初始化MPU6050对象
ImuDriver imu(mpu);              // 初始化Imu对象
imu_t imu_data;                  // IMU 数据对象

float target_linear_speed = 20.0; // 单位 毫米每秒
float target_angular_speed = 0.1; // 单位 弧度每秒
float out_left_speed = 0.0;       // 输出的左右轮速度，不是反馈的左右轮速度
float out_right_speed = 0.0;

void start()
{
    pinMode(TRIG, OUTPUT);
    pinMode(ECHO, INPUT);
    pinMode(WARN, OUTPUT);
}

void timer_callback(rcl_timer_t* timer,int64_t last_call_time)
{
    odom_t odom = kinematics.get_odom();
    int64_t stamp = rmw_uros_epoch_millis();
    msg_odom.header.stamp.sec = static_cast<int32_t>(stamp/1000);
    msg_odom.header.stamp.nanosec = static_cast<int32_t>((stamp%1000)*1e6);
    msg_odom.pose.pose.position.x = odom.x;
    msg_odom.pose.pose.position.y = odom.y;
    msg_odom.pose.pose.orientation.w = cos(odom.angle*0.5);
    msg_odom.pose.pose.orientation.x = 0;
    msg_odom.pose.pose.orientation.y = 0;
    msg_odom.pose.pose.orientation.z = sin(odom.angle*0.5);
    msg_odom.twist.twist.linear.x = odom.linear_speed;
    msg_odom.twist.twist.angular.z = odom.angular_speed;

    imu.getImuDriverData(imu_data);

    msg_imu.header.stamp.sec = static_cast<int32_t>(stamp / 1000);              // 秒部分
    msg_imu.header.stamp.nanosec = static_cast<uint32_t>((stamp % 1000) * 1e6); // 纳秒部分

    msg_imu.angular_velocity.x = imu_data.angular_velocity.x;
    msg_imu.angular_velocity.y = imu_data.angular_velocity.y;
    msg_imu.angular_velocity.z = imu_data.angular_velocity.z;

    msg_imu.linear_acceleration.x = imu_data.linear_acceleration.x;
    msg_imu.linear_acceleration.y = imu_data.linear_acceleration.y;
    msg_imu.linear_acceleration.z = imu_data.linear_acceleration.z;

    msg_imu.orientation.x = imu_data.orientation.x;
    msg_imu.orientation.y = imu_data.orientation.y;
    msg_imu.orientation.z = imu_data.orientation.z;
    msg_imu.orientation.w = imu_data.orientation.w;

    if(rcl_publish(&pub_odom,&msg_odom,NULL)!=RCL_RET_OK)
    {
        Serial.printf("error: odom pub failed!");
    }

    if(rcl_publish(&pub_imu, &msg_imu, NULL)!=RCL_RET_OK)
    {
        Serial.printf("error: imu pub failed!");
    }
}

void twist_callback(const void * msg_in)
{
    const geometry_msgs__msg__Twist* msg = (const geometry_msgs__msg__Twist*)msg_in;
    target_linear_speed = msg->linear.x*1000;
    target_angular_speed = msg->angular.z;

    kinematics.kinematics_inverse(target_linear_speed, target_angular_speed, &out_left_speed, &out_right_speed);
    Serial.printf("OUT:left_speed=%f,right_speed=%f\n", out_left_speed, out_right_speed);
    pid_controller[0].update_target(out_left_speed);
    pid_controller[1].update_target(out_right_speed);
}

void microros_task(void* args)
{
    IPAddress agent_ip;
    agent_ip.fromString("192.168.188.93");
    set_microros_wifi_transports("xbw_mi","Xbw159357",agent_ip,8888);
    delay(2000);

    allocator = rcl_get_default_allocator();

    rclc_support_init(&support,0,NULL,&allocator);

    rclc_node_init_default(&node,"example_xbwbot_motion_control","",&support);

    unsigned int num_handles = 3;
    rclc_executor_init(&executor,&support.context,num_handles,&allocator);

    rclc_subscription_init_best_effort(&sub_cmd_vel,&node,ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs,msg,Twist),"/cmd_vel");
    rclc_executor_add_subscription(&executor,&sub_cmd_vel,&msg_cmd_vel,&twist_callback,ON_NEW_DATA);

    msg_odom.header.frame_id = micro_ros_string_utilities_set(msg_odom.header.frame_id,"odom");
    msg_odom.child_frame_id = micro_ros_string_utilities_set(msg_odom.child_frame_id,"base_footprint");
    msg_imu.header.frame_id = micro_ros_string_utilities_set(msg_imu.header.frame_id,"imu");
    

    rclc_publisher_init_best_effort(&pub_odom,&node,ROSIDL_GET_MSG_TYPE_SUPPORT(nav_msgs,msg,Odometry),"/odom");
    rclc_publisher_init_best_effort(&pub_imu,&node,ROSIDL_GET_MSG_TYPE_SUPPORT(sensor_msgs, msg, Imu),"/imu");
    rclc_timer_init_default(&timer,&support,RCL_MS_TO_NS(50),timer_callback);
    rclc_executor_add_timer(&executor,&timer);

    while(!rmw_uros_epoch_synchronized())
    {
        rmw_uros_sync_session(1000);
        delay(10);
    }

    rclc_executor_spin(&executor);
}

// v=wr r = v/w 
void setup()
{
    // 初始化串口
    Serial.begin(115200); // 初始化串口通信，设置通信速率为115200
    // 初始化电机驱动器2
    encoders[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接
    encoders[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接
    // 初始化PID控制器的参数
    pid_controller[0].update_pid(0.625, 0.125, 0.0);
    pid_controller[1].update_pid(0.625, 0.125, 0.0);
    pid_controller[0].out_limit(-100, 100);
    pid_controller[1].out_limit(-100, 100);
    // 初始化运动学参数
    kinematics.set_wheel_distance(175); // mm
    kinematics.set_motor_param(0, 0.103657);
    kinematics.set_motor_param(1, 0.103657);
    // 测试下运动学逆解
    
    xTaskCreate(microros_task,"microros_task",10240,NULL,1,NULL);
    
    start();

    imu.begin(18, 19);
}

void loop()
{
    digitalWrite(TRIG, HIGH);
    delayMicroseconds(10);
    digitalWrite(TRIG, LOW);
    
    double delta_time = pulseIn(ECHO, HIGH);
    float detect_distance = delta_time * 0.0343 / 2;
    if(detect_distance<50)
    {
        digitalWrite(WARN,HIGH);
    }
    else
    {
        digitalWrite(WARN,LOW);
    }

    delayMicroseconds(9990);

    kinematics.update_motor_speed(millis(), encoders[0].getTicks(), encoders[1].getTicks());
    motor.updateMotorSpeed(0, pid_controller[0].update(kinematics.get_motor_speed(0)));
    motor.updateMotorSpeed(1, pid_controller[1].update(kinematics.get_motor_speed(1)));
    // Serial.printf("speed1=%d,speed2=%d\n",kinematics.get_motor_speed(0),kinematics.get_motor_speed(1));
    // Serial.printf("x,y,yaw=%f,%f,%f\n",kinematics.get_odom().x,kinematics.get_odom().y,kinematics.get_odom().angle);
    imu.update();
}

我使用的main.cpp，PidController.h和PidController.h与第九章的代码相同，ImuDriver.h和.cpp是从https://github.dev/fishros/fishbot_motion_control_microros复制过来的。

1257261547

@1257261547 rviz2-2] Start navigation
[rviz2-2] [INFO] [1745497363.868824195] [rviz_navigation_dialog_action_client]: NavigateToPose will be called using the BT Navigator's default behavior tree.
[component_container_isolated-1] [INFO] [1745497363.872257788] [bt_navigator]: Received goal preemption request
[component_container_isolated-1] [INFO] [1745497363.872403577] [bt_navigator]: Begin navigating from current location (0.00, -0.00) to (1.05, 0.00)
[component_container_isolated-1] [INFO] [1745497364.692875360] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497365.742881062] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1745497366.442902586] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1745497366.442952090] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1745497366.462306032] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1745497366.462780905] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1745497366.605222290] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [INFO] [1745497366.762580448] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497367.805310394] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497368.805358332] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497369.855392133] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497370.855281188] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497371.905391343] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497372.905353942] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497373.955312447] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497375.005326343] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497376.005308559] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1745497376.605300615] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1745497376.605337470] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1745497376.622371024] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1745497376.622500163] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-1] [WARN] [1745497376.963242230] [planner_server]: Planner loop missed its desired rate of 20.0000 Hz. Current loop rate is 2.9370 Hz
[component_container_isolated-1] [INFO] [1745497376.982935132] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [INFO] [1745497378.033336652] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497379.083338474] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497380.083353905] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497381.133347869] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497382.133331860] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497383.183344989] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497384.183333075] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497385.233355170] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497386.233343583] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1745497386.983379433] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1745497386.983441386] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1745497387.002286852] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1745497387.002565414] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1745497387.205118703] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [INFO] [1745497387.257316611] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497388.305240840] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497389.305246853] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497390.355189344] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497391.405191109] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497392.405226643] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497393.455190198] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497394.455174699] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497395.505252445] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1745497396.555201464] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1745497397.205337698] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1745497397.205551926] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1745497397.222854104] [behavior_server]: Running spin
[component_container_isolated-1] [INFO] [1745497397.223028066] [behavior_server]: Turning 1.57 for spin behavior
现在rqt显示正常但是执行导航时报错

1257261547

@1257261547 ros2 topic echo /imu --once
header:
stamp:
sec: 1745497834
nanosec: 466000000
frame_id: imu
orientation:
x: -0.0013860630569979548
y: 2.695150215004105e-05
z: -0.4447702169418335
w: 0.8956436514854431
orientation_covariance:

0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
angular_velocity:
x: -0.14848875999450684
y: -0.1138010025024414
z: -0.09535890817642212
angular_velocity_covariance:
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
linear_acceleration:
x: -0.006431763060390949
y: 0.0023521725088357925
z: 1.0046474933624268
linear_acceleration_covariance:
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

fishros@fishros-linux:~/chapt9/xbwbot_ws$ ros2 topic echo /odom --once
header:
stamp:
sec: 1745497879
nanosec: 265000000
frame_id: odom
child_frame_id: base_footprint
pose:
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -8.742278000372475e-08
w: -0.9999999999999962
covariance:

0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance:
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

fishros@fishros-linux:~/chapt9/xbwbot_ws$ ros2 topic echo /cmd_vel --once
linear:
x: 0.125
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -0.16

fishros@fishros-linux:~/chapt9/xbwbot_ws$ ros2 topic echo /cmd_vel --once
linear:
x: 0.24631578947368427
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -0.26315789473684215

fishbot上有IMU模块，但是第九章最后的小车代码没有IMU部分，想知道这部分代码如何编写

fishros@fishros-linux:~/chapt9/xbwbot_ws$ ros2 topic echo /cmd_vel --once linear: x: 0.125 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: -0.16

fishros@fishros-linux:~/chapt9/xbwbot_ws$ ros2 topic echo /cmd_vel --once
linear:
x: 0.125
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -0.16