[FishBot教程]9.0.7. FishBot-Nav2导航测试

[2462331351]

我这边的配置和鱼哥的一模一样，，ROS2humle,ubuntu22.04,但是我发现我在进行导航的时候啊，就是会小车走到一半就会终止，

就像这样，请问这是怎么回事呢

[小鱼]

@2462331351 图太乱了，没有空间给小车走

[HermitWJ]

@小鱼 感谢小鱼，问题已解决

[ros_freshman]

@921203724 你这个问题解决了吗，我出现了同样的问题。@小鱼

[ros_freshman]

出现这个错误了，该怎么解决呢？rosdep已经用一键安装配置好了。

[小鱼]

@ros_freshman 可以跳过

[rex.chen80]

我使用的fishros镜像系统。
但是colcon编译一直报错。有没有整合好的代码可以运行？

~ » git clone https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1
正克隆到 'fishbot'...
remote: Enumerating objects: 84, done.
remote: Counting objects: 100% (84/84), done.
remote: Compressing objects: 100% (69/69), done.
remote: Total 84 (delta 21), reused 46 (delta 7), pack-reused 0 (from 0)
接收对象中: 100% (84/84), 332.98 KiB | 1.81 MiB/s, 完成.
处理 delta 中: 100% (21/21), 完成.

---

~ » cd fishbot

---

fishbot (v1.0.0 o) » rosdep install --from-paths src --ignore-src -y -r # 安 装依赖
#All required rosdeps installed successfully

---

fishbot (v1.0.0 o) » colcon build
Starting >>> fishbot_bringup
Starting >>> fishbot_cartographer
Starting >>> fishbot_description
Starting >>> fishbot_interfaces
Starting >>> fishbot_navigation2
Finished <<< fishbot_description [0.60s]
Finished <<< fishbot_cartographer [0.71s]
Finished <<< fishbot_navigation2 [0.84s]
--- stderr: fishbot_interfaces
CMake Error at /opt/ros/humble/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:59 (message):

execute_process(/home/fishros/.x-cmd.root/local/data/pkg/sphere/X/l/j/h/bin/python3
-m rosidl_adapter --package-name fishbot_interfaces --arguments-file
/home/fishros/fishbot/build/fishbot_interfaces/rosidl_adapter__arguments__fishbot_interfaces.json
--output-dir
/home/fishros/fishbot/build/fishbot_interfaces/rosidl_adapter/fishbot_interfaces
--output-file
/home/fishros/fishbot/build/fishbot_interfaces/rosidl_adapter/fishbot_interfaces.idls)
returned error code 1:

AttributeError processing template 'srv.idl.em'

Traceback (most recent call last):

File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 48, in evaluate_template
  _interpreter = em.Interpreter(

AttributeError: module 'em' has no attribute 'Interpreter'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):

File "/home/fishros/.x-cmd.root/local/data/pkg/sphere/X/tree.linux.x64.0/miniconda/v3.10.0+23.9.0-0/lib/python3.10/runpy.py", line 196, in _run_module_as_main
  return _run_code(code, main_globals, None,
File "/home/fishros/.x-cmd.root/local/data/pkg/sphere/X/tree.linux.x64.0/miniconda/v3.10.0+23.9.0-0/lib/python3.10/runpy.py", line 86, in _run_code
  exec(code, run_globals)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__main__.py", line 19, in <module>
  sys.exit(main())
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/main.py", line 53, in main
  abs_idl_file = convert_to_idl(
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__init__.py", line 24, in convert_to_idl
  return convert_srv_to_idl(
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/srv/__init__.py", line 39, in convert_srv_to_idl
  expand_template('srv.idl.em', data, output_file, encoding='iso-8859-1')
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 23, in expand_template
  content = evaluate_template(template_name, data)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 69, in evaluate_template
  _interpreter.shutdown()

AttributeError: 'NoneType' object has no attribute 'shutdown'

Call Stack (most recent call first):
/opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces)
CMakeLists.txt:29 (rosidl_generate_interfaces)

---

Failed <<< fishbot_interfaces [0.89s, exited with code 1]
Aborted <<< fishbot_bringup [1.08s]

Summary: 3 packages finished [1.24s]
1 package failed: fishbot_interfaces
1 package aborted: fishbot_bringup
1 package had stderr output: fishbot_interfaces

[小鱼]

@rex-chen80 在 [FishBot教程]7. FishBot-Nav2导航测试 中说：

fishbot_interfaces

删除下这个功能包试试

[18296522393]

鱼哥，我在执行这段代码：ros2 launch fishbot_navigation2 navigation2.launch.py
发生报错：
raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: "package 'nav2_bringup' not found, searching: ['/home/jws/fishbot/fishbot/install/fishbot_navigation2', '/home/jws/fishbot/fishbot/install/fishbot_interfaces', '/home/jws/fishbot/fishbot/install/fishbot_description', '/home/jws/fishbot/fishbot/install/fishbot_cartographer', '/home/jws/fishbot/fishbot/install/fishbot_bringup', '/opt/ros/foxy']"

好像是缺少一个功能包：nav2_bringup
后来我搜了GPT，执行了：sudo apt install ros-foxy-nav2-bt-navigator（运行成功了）
后来再回来执行：ros2 launch fishbot_navigation2 navigation2.launch.py
还是原来的找不到“nav2_bringup”包这个错误。
该怎么解决啊

[小鱼]

@18296522393 建议用humble版本，另外需要单独装一下nav2_bringup，你可以看最新的视频或书，7.2章节有介绍命令。

[1634769990]

@1683127550 请问解决了吗？