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    [FishBot教程]7. FishBot-Nav2导航测试

    FishBot机器人
    fishbot 导航
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    • 小鱼
      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。

      1 条回复 最后回复 回复 引用 0
      • 154453683
        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 1 条回复 最后回复 回复 引用 0
        • 小鱼
          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

          1 条回复 最后回复 回复 引用 0
          • 1740580485
            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 1 条回复 最后回复 回复 引用 0
            • 小鱼
              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。

              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 1 条回复 最后回复 回复 引用 0
                • 小鱼
                  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

                  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 1 条回复 最后回复 回复 引用 0
                    • 小鱼
                      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

                      1 条回复 最后回复 回复 引用 0
                      • 1041632611
                        1041632611 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 1 条回复 最后回复 回复 引用 0
                        • 小鱼
                          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

                          1 条回复 最后回复 回复 引用 0
                          • 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 1 条回复 最后回复 回复 引用 0
                            • 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?

                              1 条回复 最后回复 回复 引用 0
                              • 565517830
                                565517830 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 1 条回复 最后回复 回复 引用 0
                                • 小鱼
                                  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

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                                  • 565517830
                                    565517830 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

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                                    • 565517830
                                      565517830 @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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