rviz2中不显示代价地图

[slx]

ros2 galactic仿真导航时，rviz中不显示代价地图

• ROS版本：ROS2 galactic
• 导航包：nav2
  按照动手学ros2第11章第三节 (使用FishBot进行自主导航) 配置好后，rviz中能显示地图，也能导航，但是通过 “by/topic” 方式添加代价地图话题，提示 Warning "No map received"，不能显示代价地图， 这是为什么啊？

这是launch文件

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    #=============================1.定位到包的地址=============================================================
    fishbot_navigation2_dir = get_package_share_directory('robot_navigation2')
    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
    
    
    #=============================2.声明参数，获取配置文件路径===================================================
    # use_sim_time 这里要设置成true,因为gazebo是仿真环境，其时间是通过/clock话题获取，而不是系统时间
    use_sim_time = LaunchConfiguration('use_sim_time', default='true') 
    map_yaml_path = LaunchConfiguration('map',default=os.path.join(fishbot_navigation2_dir,'maps','fishbot_map.yaml'))
    nav2_param_path = LaunchConfiguration('params_file',default=os.path.join(fishbot_navigation2_dir,'param','robot_nav2_params.yaml'))
    rviz_config_dir = os.path.join(nav2_bringup_dir,'rviz','nav2_default_view.rviz')

    #=============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件==============
    nav2_bringup_launch = IncludeLaunchDescription(
            PythonLaunchDescriptionSource([nav2_bringup_dir,'/launch','/bringup_launch.py']),
            launch_arguments={
                'map': map_yaml_path,
                'use_sim_time': use_sim_time,
                'params_file': nav2_param_path}.items(),
        )
    rviz_node =  Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            arguments=['-d', rviz_config_dir],
            parameters=[{'use_sim_time': use_sim_time}],
            output='screen')
    
    return LaunchDescription([nav2_bringup_launch,rviz_node])

[小鱼]

@slx 这个问题大概出在了数据来源端，仿真来说就是gazebo这一块，所以需要你贴下启动gazebo的launch文件，另外你的代码是直接下载的fishbot源码还是从教程中复制粘贴下来的？

[slx]

@小鱼
代码是复制粘贴的，我自己也做了改动

这是gazebo的启动launch

import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    robot_name_in_model = 'my_robot'
    package_name = 'robot_urdf'
    urdf_name = "my_robot.urdf"
    rviz_name = "my.rviz"
    world_name = "fishbot.world"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')
    gazebo_world_path = os.path.join(pkg_share, f'world/{world_name}')
    default_rviz_config_path = os.path.join(pkg_share, f'rviz/{rviz_name}')

    # Start Gazebo server
    start_gazebo_cmd = ExecuteProcess(
        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
        output='screen')

    # Launch the robot
    spawn_entity_cmd = Node(
        package='gazebo_ros', 
        executable='spawn_entity.py',
        arguments=['-entity', robot_name_in_model,  '-file', urdf_model_path ], output='screen')
	
    # Start Robot State publisher
    start_robot_state_publisher_cmd = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        arguments=[urdf_model_path]
    )
    # joint_state_publisher_node = Node(
    #     package='joint_state_publisher_gui',
    #     executable='joint_state_publisher_gui',
    #     name='joint_state_publisher_gui',
    #     arguments=[urdf_model_path]
    # )

    # Launch RViz
    start_rviz_cmd = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', default_rviz_config_path]
        )

    ld.add_action(start_gazebo_cmd)
    ld.add_action(spawn_entity_cmd)
    ld.add_action(start_robot_state_publisher_cmd)
    # ld.add_action(joint_state_publisher_node)
    # ld.add_action(start_rviz_cmd)


    return ld

[小鱼]

@slx 在 rviz2中不显示代价地图 中说：

cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],

问题出在了这里,少加载了一个库，修改一下即可

原始启动gazebo代码

  # Start Gazebo server
    start_gazebo_cmd = ExecuteProcess(
        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
        output='screen')

修改后的启动gazebo代码

    # Start Gazebo server
    start_gazebo_cmd = ExecuteProcess(
        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
        output='screen')

[slx]

可以了可以了 感谢