[FishBot教程]7. FishBot-Nav2导航测试

safereinforcementlab

鱼哥，这是什么问题

autoliu@autoliu-LEGION-REN7000K-26IRB:~/fishbot$ rosdep install --from-paths src --ignore-src -y -r # 安装依赖
#All required rosdeps installed successfully
autoliu@autoliu-LEGION-REN7000K-26IRB:~/fishbot$ colcon build
Starting >>> fishbot_bringup
Starting >>> fishbot_cartographer
Starting >>> fishbot_description
Starting >>> fishbot_interfaces
Starting >>> fishbot_navigation2
--- stderr: fishbot_cartographer
CMake Error at /usr/share/cmake-3.22/Modules/CMakeTestCCompiler.cmake:69 (message):
The C compiler

"/usr/bin/cc"

is not able to compile a simple test program.

It fails with the following output:

Change Dir: /home/autoliu/fishbot/build/fishbot_cartographer/CMakeFiles/CMakeTmp

Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_0c79a/fast && /usr/bin/gmake  -f CMakeFiles/cmTC_0c79a.dir/build.make CMakeFiles/cmTC_0c79a.dir/build
gmake[1]: 进入目录“/home/autoliu/fishbot/build/fishbot_cartographer/CMakeFiles/CMakeTmp”
Building C object CMakeFiles/cmTC_0c79a.dir/testCCompiler.c.o
/usr/bin/cc    -o CMakeFiles/cmTC_0c79a.dir/testCCompiler.c.o -c /home/autoliu/fishbot/build/fishbot_cartographer/CMakeFiles/CMakeTmp/testCCompiler.c
/home/autoliu/fishbot/build/fishbot_cartographer/CMakeFiles/CMakeTmp/testCCompiler.c:11:1: fatal error: error closing /tmp/cc76K2IV.s: 设备上没有空间
   11 | { (void)argv; return argc-1;}
      | ^
compilation terminated.
gmake[1]: *** [CMakeFiles/cmTC_0c79a.dir/build.make:78：CMakeFiles/cmTC_0c79a.dir/testCCompiler.c.o] 错误 1
gmake[1]: 离开目录“/home/autoliu/fishbot/build/fishbot_cartographer/CMakeFiles/CMakeTmp”
gmake: *** [Makefile:127：cmTC_0c79a/fast] 错误 2

CMake will not be able to correctly generate this project.
Call Stack (most recent call first):
CMakeLists.txt:2 (project)

Failed <<< fishbot_cartographer [0.39s, exited with code 1]
Aborted <<< fishbot_description [0.38s]
Aborted <<< fishbot_bringup [0.41s]
Aborted <<< fishbot_interfaces [0.49s]
Aborted <<< fishbot_navigation2 [0.48s]

Summary: 0 packages finished [0.91s]
1 package failed: fishbot_cartographer
4 packages aborted: fishbot_bringup fishbot_description fishbot_interfaces fishbot_navigation2
4 packages had stderr output: fishbot_bringup fishbot_cartographer fishbot_interfaces fishbot_navigation2

safereinforcementlab

鱼哥，如果我要自己写控制算法，应该在哪里改，没找到源码的控制算法在那里

safereinforcementlab

@safereinforcementlab 我重新装了ros2，就好了

safereinforcementlab

请问在这个程序里面，具体的控制算法程序在哪里，https://github.com/fishros/fishbot，没有看到

(解放版）沉迷睡觉

此回复已被删除！

(解放版）沉迷睡觉

@小鱼

鱼哥都做完了最后给了小车目标之后他只是转了个向并没有移动我看雷达这边报了警是这个原因吗？还是因为什么？

小鱼

@1147022743 这个警告没关系，是Qos 主要是你这膨胀半径太大了吧

.

@小鱼鱼哥，我安装依赖是成功的，但是在编译的时候我也出现了这个问题，请问该怎么解决

大道至简

@blairan121122885 解决了吗，跑了一次一键安装？

大道至简

@192224801 同样问题解决了吗

大道至简

@小鱼鱼哥这一步跑一键安装，输入命令后安装第几项？

大道至简

@小鱼截图 2024-02-20 20-03-27.png 截图 2024-02-20 20-13-53.png 鱼哥，卡在“fishbot_bringup”这里了，没找到如何解决的方法呢，帮我看看怎么个问题，多谢

那年那兔

我下载的NAV2的代码为什么编译阶段会报错

rclcpp::Node>; std::string = std::__cxx11::basic_string<char>]’:
/home/tq/workspace/nav2/src/navigation2-main/nav2_util/src/lifecycle_service_client.cpp:35:3:   required from here
/home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/service_client.hpp:49:15: error: cannot convert ‘rclcpp::SystemDefaultsQoS’ to ‘const rmw_qos_profile_t&’ {aka ‘const rmw_qos_profile_s&’}
   49 |       rclcpp::SystemDefaultsQoS(),
      |               ^~~~~~~~~~~~~~~~~~~
      |               |
      |               rclcpp::SystemDefaultsQoS
In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/service_client.hpp:20,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/src/lifecycle_service_client.cpp:15:
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:127:29: note:   initializing argument 2 of ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = lifecycle_msgs::srv::ChangeState; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::ChangeState> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’
  127 |   const rmw_qos_profile_t & qos_profile,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
In file included from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/src/lifecycle_service_client.cpp:15:
/home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/service_client.hpp: In instantiation of ‘nav2_util::ServiceClient<ServiceT, NodeT>::ServiceClient(const string&, const NodeT&) [with ServiceT = lifecycle_msgs::srv::GetState; NodeT = std::shared_ptr<rclcpp::Node>; std::string = std::__cxx11::basic_string<char>]’:
/home/tq/workspace/nav2/src/navigation2-main/nav2_util/src/lifecycle_service_client.cpp:36:3:   required from here
/home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/service_client.hpp:49:15: error: cannot convert ‘rclcpp::SystemDefaultsQoS’ to ‘const rmw_qos_profile_t&’ {aka ‘const rmw_qos_profile_s&’}
   49 |       rclcpp::SystemDefaultsQoS(),
      |               ^~~~~~~~~~~~~~~~~~~
      |               |
      |               rclcpp::SystemDefaultsQoS
In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/service_client.hpp:20,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/src/lifecycle_service_client.cpp:15:
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:127:29: note:   initializing argument 2 of ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = lifecycle_msgs::srv::GetState; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::GetState> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’

小鱼

@1032063747 第二个命令应该在第一个后面输入，注意终端目录

Woah damn

此回复已被删除！

Woah damn

@1923825015 https://fishros.org.cn/forum/topic/923/fishbot配套资料教程汇总?lang=zh-CN

Woah damn

@小鱼在 [FishBot教程]7. FishBot-Nav2导航测试中说：

source install/setup.bash
ros2 launch fishbot_navigation2 navigation2.launch.py

哥，我前面都弄好了，最后一步点击Rviz2工具栏——2D Pose Estimate没有反应是什么原因？，是Ubuntu22.04，humble版本，前面的都没问题，知道一下呗，很急！！！重试了很多次都是没反应。

小鱼

@1923825015 你提供的信息不足，连个日志都没有

@小鱼在提问前必看！一定要看！必须看一下！中说：

一个好的提问不仅能够帮助自己理清楚问题，还有助于别人快速帮助到你。——提问的智慧

问题一定要描述清楚，终端打印一定复制粘贴，方便回答者检索和引用（你可以在linux系统上打开浏览器进社区）
基本的Markdown语法一定要学习下，有的小伙伴图片代码一团糟
提问时一定要提供尽可能多的信息(系统版本，ROS版本，前后操作，终端日志)，包括你的目的，比如你其实想装装某个库遇到问题，不要只说这个问题，因为可能有更好的替代方案
先搜索再提问，很多问题其实都有解决方案，确保你自己对自己的问题有一定了解再提问
尽量一句话说完，不要把社区当微信聊天一样用，每一个回复都尽量提供更多的的信息。

Woah damn

@小鱼鱼哥在构建完地图导航测试时遇到了一点问题，问题如下：
平台：Ubuntu22.04 ROS:humble
问题：地图成功构建好后，按照教程加载到navigation2.launch.py程序中去，编译成功，然后运行后，按照问档设置起点和目标点，无法使小车导航移动。

具体操作步骤和执行状态如下：
1、启动micro-ros命令：
sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6
状态正常，可以接收到话题
2、启动雷达驱动：
xhost + && sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=unix$DISPLAY -p 8889:8888 fishros2/fishbot_laser
在新开的RVIZ中可以看到雷达正常工作。
3、修改navigation2.launch.py程序，加载新建的地图
4、运行程序，加载地图如下