[FishBot教程]9.0.7. FishBot-Nav2导航测试

Bear

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

@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

1740580485

小鱼哥，我第一步就错了

小鱼

@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。

13768252287

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

@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

13768252287

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

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

foxy

换humble版本就好

燦.

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

@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

北

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

@小鱼

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：

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?

我姓徐 💋

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

@565517830 这个没关系，编译错误提出来，建议单独发帖

我姓徐 💋

下载代码后colcon build报错，如图片所示

我姓徐 💋

@1954923637 代码路径有中文，换个没有中文的路径

秩

@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

h1

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)

小鱼

@429016267 源码版本有些老了，直接二进制安装吧

h1

@小鱼好吧，目前我就是源码编不过，其他都可以，有没有什么方案能解决下这个问题呢，大佬