启动问题
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dusiyang@dusiyang-VMware-Virtual-Platform:~/chapt9/fishbot_ws$ source install/setup.bash
dusiyang@dusiyang-VMware-Virtual-Platform:~/chapt9/fishbot_ws$ colcon build
Starting >>> micro_ros_msgs
Starting >>> fishbot_bringup
Finished <<< fishbot_bringup [0.37s]
Starting >>> fishbot_description
Finished <<< fishbot_description [0.18s]
Starting >>> fishbot_navigation2
Finished <<< fishbot_navigation2 [0.18s]
Starting >>> ros_serial2wifi
Finished <<< micro_ros_msgs [1.58s]
Starting >>> ydlidar
Finished <<< ydlidar [0.35s]
Starting >>> micro_ros_agent
Finished <<< micro_ros_agent [0.24s]
Finished <<< ros_serial2wifi [2.18s]Summary: 7 packages finished [3.13s]
dusiyang@dusiyang-VMware-Virtual-Platform:~/chapt9/fishbot_ws$ ros2 launch fishbot_bringup bringup.launch.py
[INFO] [launch]: All log files can be found below /home/dusiyang/.ros/log/2025-10-27-22-34-29-643497-dusiyang-VMware-Virtual-Platform-24285
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [24289]
[INFO] [robot_state_publisher-2]: process started with pid [24290]
[INFO] [odom2tf-3]: process started with pid [24291]
[INFO] [micro_ros_agent-4]: process started with pid [24292]
[INFO] [tcp_server-5]: process started with pid [24293]
[micro_ros_agent-4] [1761575669.866394] info | UDPv4AgentLinux.cpp | init | running... | port: 8888
[micro_ros_agent-4] [1761575669.867697] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[robot_state_publisher-2] [INFO] [1761575669.960179969] [robot_state_publisher]: Robot initialized
[tcp_server-5] [INFO] [1761575670.399769875] [tcp_socket_server_node]: TCP端口:8889，已映射到串口设备:/tmp/tty_laser
[tcp_server-5] [INFO] [1761575670.400160128] [tcp_socket_server_node]: 等待接受连接..
[joint_state_publisher-1] [INFO] [1761575670.512671349] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[INFO] [ydlidar_node-6]: process started with pid [24471]
[ydlidar_node-6] [INFO] [1761575675.365816701] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_node-6]
[ydlidar_node-6] [2025-10-27 22:34:35][info] SDK initializing
[ydlidar_node-6] [2025-10-27 22:34:35][info] SDK has been initialized
[ydlidar_node-6] [2025-10-27 22:34:35][info] SDK Version: 1.2.9
[ydlidar_node-6] [2025-10-27 22:34:35][info] Connect elapsed time 0 ms
[ydlidar_node-6] [2025-10-27 22:34:35][info] Lidar successfully connected [/tmp/tty_laser:115200]
[ydlidar_node-6] [2025-10-27 22:34:35][info] Lidar running correctly! The health status good
[ydlidar_node-6] [2025-10-27 22:34:35][info] Current Lidar Model Code 12
[ydlidar_node-6] [2025-10-27 22:34:35][info] Check status, Elapsed time 1 ms
[ydlidar_node-6] [2025-10-27 22:34:35][info] Lidar init success, Elapsed time [1]ms
[ydlidar_node-6] [2025-10-27 22:34:35][info] Start to getting intensity flag
[ydlidar_node-6] [2025-10-27 22:34:38][info] [YDLIDAR] End to getting intensity flag
[ydlidar_node-6] [2025-10-27 22:34:38][info] [YDLIDAR] Create thread 0xDA7F46C0
[ydlidar_node-6] [2025-10-27 22:34:38][info] Successed to start scan mode, Elapsed time 3561 ms
[ydlidar_node-6] [2025-10-27 22:34:39][error] Timeout count: 1
[ydlidar_node-6] [2025-10-27 22:34:40][error] Timeout count: 2
[ydlidar_node-6] [2025-10-27 22:34:41][error] Timeout count: 3
[ydlidar_node-6] [2025-10-27 22:34:44][error] Timeout count: 1
[ydlidar_node-6] [2025-10-27 22:34:45][error] Timeout count: 2
[ydlidar_node-6] [2025-10-27 22:34:46][error] Timeout count: 3
[ydlidar_node-6] [2025-10-27 22:34:48][error] Timeout count: 1
[ydlidar_node-6] [2025-10-27 22:34:49][error] Failed to turn on the Lidar, because the lidar is [Device Failed].
[ydlidar_node-6] [INFO] [1761575689.141872002] [ydlidar_node]: [YDLIDAR INFO] Now YDLIDAR is stopping .......
[INFO] [ydlidar_node-6]: process has finished cleanly [pid 24471]
[ydlidar_node-6]