[FishBot教程]7. FishBot-Nav2导航测试

[2406291085]

请问进行导航的时候 地图变成这个样子是怎么回事 怎么解决

[sexysmile]

@1032063747 什么一键安装？我也卡在这里了，请问可以分享一下处理办法吗？

[1578752813]

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

ros2 launch fishbot_bringup fishbot_bringup.launch.py

eepdriving@deepdriving:~/fishbot$ ros2 launch fishbot_bringup fishbot_bringup.launch.py
[INFO] [launch]: All log files can be found below /home/deepdriving/.ros/log/2024-05-11-15-55-53-146433-deepdriving-1888666
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'joint_state_publisher' not found, searching: ['/home/deepdriving/fishbot/install/fishbot_navigation2', '/home/deepdriving/fishbot/install/fishbot_interfaces', '/home/deepdriving/fishbot/install/fishbot_description', '/home/deepdriving/fishbot/install/fishbot_cartographer', '/home/deepdriving/fishbot/install/fishbot_bringup', '/opt/ros/foxy']")>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
    content, package_prefix = get_resource('packages', package_name)
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
    raise LookupError(
LookupError: Could not find the resource 'joint_state_publisher' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 453, in execute
    ret = super().execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 823, in execute
    self.__expand_substitutions(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in __expand_substitutions
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in <listcomp>
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 76, in perform
    package_prefix = super().perform(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform
    result = self.find(package)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 96, in find
    return get_package_prefix(package_name)
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
    raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'joint_state_publisher' not found, searching: ['/home/deepdriving/fishbot/install/fishbot_navigation2', '/home/deepdriving/fishbot/install/fishbot_interfaces', '/home/deepdriving/fishbot/install/fishbot_description', '/home/deepdriving/fishbot/install/fishbot_cartographer', '/home/deepdriving/fishbot/install/fishbot_bringup', '/opt/ros/foxy']"

[小鱼]

@1578752813 1.请使用ubuntu22.04 系统 2.请安装 joint_state_publisher

[1006076811]

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

rosdep install --from-paths src --ignore-src -y -r

使用foxy版本的ros2的话，git clone 之后，记得要git checkout foxy，切换到对应分支，否则安装依赖时会有部分安装不上。

[小鱼]

@1006076811

[1006076811]

@小鱼
我发现foxy版本fishbot_bringup没有这个包，还需要执行以下步骤吗？
如果不执行，直接执行nav2似乎不行

source install/setup.bash
ros2 launch fishbot_bringup fishbot_bringup.launch.py

[小鱼]

@1006076811 可以把humble版本的拷贝过去

[414115309]

此回复已被删除！

[414115309]

@小鱼 安装依赖出错怎么解决呢

[414115309]

@小鱼 帮我看下rosdep install --from-paths src -y这个为什么出错呢

[小鱼]

@414115309 有rosdepc init 和 update 吗

[2940867840]

运行bringup 节点，没有将odom话题转化成tf消息显示如下图， ，应该怎么解决

[小鱼]

@2940867840 第二步做了吗，且正常吗

---

另外最好不要盖楼哈，请单独发帖

https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

[2940867840]

@小鱼 第二步能正常运行，就是bringup时，接收不到tf的消息

[2940867840]

此回复已被删除！

[小鱼]

@2940867840 ros2 topic echo /odom 有没有数据呢

[2940867840]

@小鱼 可以看到数据

[小鱼]

@2940867840 贴上launch文件单独发个帖子吧，不要截图

[1141682555]

在colcon build的时候 bringup功能包报错是因为什么啊？