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    [FishBot教程]9.0.7. FishBot-Nav2导航测试

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    • 小鱼小
      小鱼 技术大佬 @1954923637
      最后由 编辑

      @1954923637 代码版本看看有没有错,最好带着上下文重新发个帖子。


      @小鱼 在 提问前必看!一定要看!必须看一下! 中说:

      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。

      新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

      1 条回复 最后回复 回复 引用 0
      • 1544536831
        Bear
        最后由 编辑

        鱼哥,按你的教程都搞了一遍,非常赞。
        但导航目前是在rviz中点击的,啥时候出一个能用代码实现的教程:
        1.初次建图跟扫地机器人一样,自己走一圈建图
        2.建图后,下次开机的初始定位、导航均用代码实现

        小鱼小 1 条回复 最后回复 回复 引用 0
        • 小鱼小
          小鱼 技术大佬 @154453683
          最后由 编辑

          @154453683 nav2支持通过代码进行这些操作,可以到Nav2官方文档进行学习

          新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

          1 条回复 最后回复 回复 引用 0
          • 17405804851
            1740580485
            最后由 编辑

            小鱼哥,我第一步就错了d3d68231-fb51-41d8-9ebf-fc8ce87dcdbe-image.png

            小鱼小 1 条回复 最后回复 回复 引用 0
            • 小鱼小
              小鱼 技术大佬 @1740580485
              最后由 编辑

              @1740580485 你的网络不行,可以试试 github代理,github.fishros.org,另外终端内容最好赋值粘贴,我好给你修改

              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。

              新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

              1 条回复 最后回复 回复 引用 0
              • 1
                13768252287
                最后由 编辑

                执行ros2 launch fishbot_bringup fishbot_bringup.launch.py

                报错

                [INFO] [launch]: All log files can be found below /home/a/.ros/log/2023-10-30-02-11-31-404730-a-10225
                [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/a/fishbot/install/fishbot_navigation2', '/home/a/fishbot/install/fishbot_interfaces', '/home/a/fishbot/install/fishbot_description', '/home/a/fishbot/install/fishbot_cartographer', '/home/a/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/a/fishbot/install/fishbot_navigation2', '/home/a/fishbot/install/fishbot_interfaces', '/home/a/fishbot/install/fishbot_description', '/home/a/fishbot/install/fishbot_cartographer', '/home/a/fishbot/install/fishbot_bringup', '/opt/ros/foxy']"
                
                
                小鱼小 1 条回复 最后回复 回复 引用 0
                • 小鱼小
                  小鱼 技术大佬 @13768252287
                  最后由 编辑

                  @13768252287 在 [FishBot教程]7. FishBot-Nav2导航测试 中说:

                  执行ros2 launch fishbot_bringup fishbot_bringup.launch.py

                  报错

                  [INFO] [launch]: All log files can be found below /home/a/.ros/log/2023-10-30-02-11-31-404730-a-10225
                  [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/a/fishbot/install/fishbot_navigation2', '/home/a/fishbot/install/fishbot_interfaces', '/home/a/fishbot/install/fishbot_description', '/home/a/fishbot/install/fishbot_cartographer', '/home/a/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/a/fishbot/install/fishbot_navigation2', '/home/a/fishbot/install/fishbot_interfaces', '/home/a/fishbot/install/fishbot_description', '/home/a/fishbot/install/fishbot_cartographer', '/home/a/fishbot/install/fishbot_bringup', '/opt/ros/foxy']"
                  
                  

                  sudo apt install ros-$ROS_DISTRO-joint-state-publisher

                  新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                  19238250151 1 条回复 最后回复 回复 引用 0
                  • 1
                    13768252287
                    最后由 编辑

                    切换自己的slam地图报错
                    执行```
                    ros2 launch fishbot_navigation2 navigation2.launch.py
                    ros2 launch fishbot_navigation2 navigation2.launch.py

                    
                    

                    [INFO] [launch]: All log files can be found below /home/a/.ros/log/2023-11-02-22-09-38-820997-a-9591
                    [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=InvalidLaunchFileError('py')>
                    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 'nav2_bringup' 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_description_sources/any_launch_file_utilities.py", line 53, in get_launch_description_from_any_launch_file
                    return loader(launch_file_path)
                    File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
                    return getattr(launch_file_module, 'generate_launch_description')()
                    File "/home/a/fishbot/install/fishbot_navigation2/share/fishbot_navigation2/launch/navigation2.launch.py", line 21, in generate_launch_description
                    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
                    File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 70, in get_package_share_directory
                    return os.path.join(get_package_prefix(package_name), 'share', 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 'nav2_bringup' not found, searching: ['/home/a/fishbot/install/fishbot_navigation2', '/home/a/fishbot/install/fishbot_interfaces', '/home/a/fishbot/install/fishbot_description', '/home/a/fishbot/install/fishbot_cartographer', '/home/a/fishbot/install/fishbot_bringup', '/opt/ros/foxy']"

                    The above exception was the direct cause of the following exception:

                    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 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/actions/include_launch_description.py", line 130, in execute
                    launch_description = self.__launch_description_source.get_launch_description(context)
                    File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
                    self._get_launch_description(self.__expanded_location)
                    File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
                    return get_launch_description_from_any_launch_file(location)
                    File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
                    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/a/fishbot/install/fishbot_navigation2', '/home/a/fishbot/install/fishbot_interfaces', '/home/a/fishbot/install/fishbot_description', '/home/a/fishbot/install/fishbot_cartographer', '/home/a/fishbot/install/fishbot_bringup', '/opt/ros/foxy']"

                    小鱼小 1 条回复 最后回复 回复 引用 0
                    • 小鱼小
                      小鱼 技术大佬 @13768252287
                      最后由 编辑

                      @13768252287 在 [FishBot教程]7. FishBot-Nav2导航测试 中说:

                      foxy

                      换humble版本就好

                      新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                      1 条回复 最后回复 回复 引用 0
                      • 10416326111
                        燦.
                        最后由 编辑

                        您好,第一步的克隆仓库出错了,包括代理也无法克隆,请问有其他链接么?
                        emily3@emily3-virtual-machine:~$ git clone https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1
                        正克隆到 'fishbot'...
                        fatal: 无法访问 'https://github.com/fishros/fishbot.git/':Failed to connect to github.com port 443 after 130728 ms: 连接超时

                        小鱼小 1 条回复 最后回复 回复 引用 0
                        • 小鱼小
                          小鱼 技术大佬 @1041632611
                          最后由 编辑

                          @1041632611 在 [FishBot教程]7. FishBot-Nav2导航测试 中说:

                          git clone https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1

                          git clone http://github.fishros.org/https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1

                          新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                          1 条回复 最后回复 回复 引用 0
                          • 北北
                            北
                            最后由 编辑

                            667fb2a6-c66c-4d0a-bb0e-ed6bdf30bd55-image.png

                            aca1b923-5815-48f0-8ad6-f26c0e3ff9a0-image.png

                            ubuntu22在问题出现后重装过ros2humble,rosdepc
                            rosdep install {ERROR}报错,如何重新安装依赖或者是否有其他的解决方案?

                            北北 1 条回复 最后回复 回复 引用 0
                            • 北北
                              北 @北
                              最后由 编辑

                              @小鱼 b64fbb93eebb9dee518532e6328939c3.jpg

                              dragon@dragon-virtual-machine:~/Documents/custom/fishbot$ rosdep install --from-paths src --ignore-src -y  -r
                              ERROR: the following packages/stacks could not have their rosdep keys resolved
                              to system dependencies:
                              fishbot_description: Cannot locate rosdep definition for [ament_python]
                              Continuing to install resolvable dependencies...
                              #All required rosdeps installed successfully
                              

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

                              667fb2a6-c66c-4d0a-bb0e-ed6bdf30bd55-image.png

                              aca1b923-5815-48f0-8ad6-f26c0e3ff9a0-image.png

                              ubuntu22在问题出现后重装过ros2humble,rosdepc
                              rosdep install {ERROR}报错,如何重新安装依赖或者是否有其他的解决方案?

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                              • 5655178305
                                我姓徐 💋
                                最后由 编辑

                                克隆代码完成后,安装依赖一直提示:
                                ERROR: the following packages/stacks could not have their rosdep keys resolved
                                to system dependencies:
                                fishbot_description: Cannot locate rosdep definition for [ament_python]
                                Continuing to install resolvable dependencies...
                                #All required rosdeps installed successfully

                                编译也报错

                                小鱼小 1 条回复 最后回复 回复 引用 0
                                • 小鱼小
                                  小鱼 技术大佬 @565517830
                                  最后由 编辑

                                  @565517830 这个没关系,编译错误提出来,建议单独发帖

                                  新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

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                                  • 5655178305
                                    我姓徐 💋
                                    最后由 编辑

                                    964b8517-ac34-4c9d-a1a4-eb739434c356-image.png
                                    下载代码后colcon build报错,如图片所示

                                    14492629671 1 条回复 最后回复 回复 引用 1
                                    • 5655178305
                                      我姓徐 💋 @1954923637
                                      最后由 编辑

                                      @1954923637 代码路径有中文,换个没有中文的路径

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                                      • 14492629671
                                        秩 @565517830
                                        最后由 编辑

                                        @565517830 同问,我也是这个报错!!bfdff8a2-5425-4099-8558-0a1d2f254248-截图 2023-12-27 18-58-56.png file:///home/fishros/%E5%9B%BE%E7%89%87/%E6%88%AA%E5%9B%BE/%E6%88%AA%E5%9B%BE%202023-12-27%2018-58-56.png

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                                        • 4290162674
                                          h1
                                          最后由 编辑

                                          无法下载cartographer和navigation源码,自己手动下载后,又无法编译cartographer源码
                                          使用git clone --recursive https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1
                                          cd fishbot
                                          rosdep install --from-paths src --ignore-src -y -r # 安装依赖
                                          colcon build下载源码,无法下载cartographer和navigation源码,(我得环境是vm虚拟机+ubuntu22.04+ros2 humble版本)
                                          报错 重定向:http://ww3.91chi.fun/?sub1=90563160-ae8f-11ee-b3d1-c2900044a4dd
                                          fatal: 无法克隆 'https://github.91chi.fun/https://github.com/ros2/cartographer.git' 到子模组路径 '/home/zlkj/Desktop/gong_xiang/yuan_ma1/fishbot/src/cartographer_code/cartographer'
                                          克隆 'src/cartographer_code/cartographer' 失败。按计划重试
                                          正克隆到 '/home/zlkj/Desktop/gong_xiang/yuan_ma1/fishbot/src/cartographer_code/cartographer_ros'...
                                          warning: 您似乎克隆了一个空仓库。
                                          正克隆到 '/home/zlkj/Desktop/gong_xiang/yuan_ma1/fishbot/src/navigation'...
                                          warning: 您似乎克隆了一个空仓库。
                                          正克隆到 '/home/zlkj/Desktop/gong_xiang/yuan_ma1/fishbot/src/cartographer_code/cartographer'...
                                          warning: 您似乎克隆了一个空仓库。
                                          error: inflate: data stream error (incorrect header check)
                                          error: File 2ce33a65bd4e41e3bf5af92c9275354ce7921c70 (https://github.91chi.fun/https://github.com/ros2/cartographer.git/objects/2c/e33a65bd4e41e3bf5af92c9275354ce7921c70) corrupt
                                          error: Unable to find 2ce33a65bd4e41e3bf5af92c9275354ce7921c70 under https://github.91chi.fun/https://github.com/ros2/cartographer.git
                                          Cannot obtain needed object 2ce33a65bd4e41e3bf5af92c9275354ce7921c70
                                          error: 获取失败。
                                          fatal: 获取了子模组路径 'src/cartographer_code/cartographer',但是它没有包含 2ce33a65bd4e41e3bf5af92c9275354ce7921c70。直接获取该提交失败。
                                          fatal:
                                          2:后续自己手动下载这里两部分源码,在编译cartographer时候,报错:home/zlkj/Desktop/gong xiang/yuan ma/fishbot/src/cartographer_code/cartographercartographer/common/thread pool,h:73:63: error:"mutexhas not been declaredvoid NotifyDependenciesCompleted(Task* task) LOCKS EXCLUDED(mutex ) ov73erride;
                                          home/zlkj/Desktop/gong xiang/yuan ma/fishbot/src/cartographer_code/cartographercartographer/common/thread pool.h:73:48: error: ISO C++ forbids declaration ofLOCKS EXCLUDED’ with no type [-fpermissive]73void NotifyDependenciesCompleted(Task* task) LOCKS_EXCLUDED(mutex ) override;
                                          home/zlkj/Desktop/gong xiang/yuan ma/fishbot/src/cartographer_code/cartographercartographer/common/thread poolh:73:48: error: int cartographer::common::thredPool::LOCKS EXCLUDED(int)’ cannot be overloaded with "int cartographer::common::Threadpool::LOCKS EXCLUDED(int)1704870970161.jpg

                                          小鱼小 1 条回复 最后回复 回复 引用 0
                                          • 小鱼小
                                            小鱼 技术大佬 @429016267
                                            最后由 编辑

                                            @429016267 源码版本有些老了,直接二进制安装吧

                                            新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                                            4290162674 1 条回复 最后回复 回复 引用 0
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