[FishBot教程]7. FishBot-Nav2导航测试

guoxiaoqing2350

@小鱼小鱼，我第一步拿到 fishbot 源码后 colcon build 就失败了，能帮我看下问题出在哪儿吗？感谢感谢～

Configuration : Ubuntu 22.04 humble + ros2

issues 情景 + 尝试解决方案：
(1) 初始问题（retry_test_1）：

操作：按原教程使用

git clone https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1
cd fishbot
rosdepc install --from-paths src --ignore-src -y  -r # 安装依赖
colcon build

结果：all packages 全部编译失败
--
(2) retry_test_2：
操作：手动 download “ https://github.com/fishros/fishbot ” 的 humble 源码，后添加依赖，后 colcon build
结果：只有 “fishbot_description” package 编译成功，其它失败
--
(3) retry_test_3：
每个pkg 单独编译，结果同（2）
--
(4) retry_test_4：
重装 ros2，后重复 “retry_test_1 / 2 / 3”中操作，结果与之前相同
--
(5) 思考：
我之前好像看到过你标注过 catorgrapher 在 ubuntu 2004上测试ok了，但是没有提到在 ubuntu 2204上测试结果，会不会是这个原因？
--
但是我看到其他帖子里有个人刚开始也碰到我这个初始编译问题，他后续说重装ros2就解决了，但是我重装了并没有解决，是不是源码中还有哪些地方要根据实际情况修改下？
--另外报错有提到 ament_lint_auto_find_test_dependencies ，是不是依赖也出了问题，它检索不到所以无法编译？

3. Note: 下方所附为 "ros2重装" 后 "retry_test_2" 中的 "操作" 下的结果

(base) ros2@ros2-virtual-machine:~/Desktop/d2lros2/chapt2/Julie_ws$ ls
fishbot  fishbot-1.0.0.zip  map
(base) ros2@ros2-virtual-machine:~/Desktop/d2lros2/chapt2/Julie_ws$ cd fishbot/
(base) ros2@ros2-virtual-machine:~/Desktop/d2lros2/chapt2/Julie_ws/fishbot$ ls
doc  README.md  src
(base) ros2@ros2-virtual-machine:~/Desktop/d2lros2/chapt2/Julie_ws/fishbot$ rosdepc install --from-paths src --ignore-src -y  -r
您已经成功安装rosdepc,下面提示的用法中，请将rosdep替换为rosdepc使用～
欢迎使用国内版rosdep之rosdepc，我是作者小鱼！
学习机器人,就关注《鱼香ROS》（公众号|B站|CSDN）！
小鱼rosdepc正式为您服务
#All required rosdeps installed successfully
---------------------------------------------------------------------------
---------------------------------------------------------------------------
小鱼科普：rosdep干什么用的？可以跳过吗？https://fishros.org.cn/forum/topic/2124
如果再使用过程中遇到任何问题，欢迎通过fishros.org.cn反馈，或者加入QQ交流群(139707339)
(base) ros2@ros2-virtual-machine:~/Desktop/d2lros2/chapt2/Julie_ws/fishbot$ colcon build
Starting >>> fishbot_bringup
Starting >>> fishbot_cartographer             
Starting >>> fishbot_description                              
Starting >>> fishbot_interfaces                               
Finished <<< fishbot_description [3.93s]                            
Starting >>> fishbot_navigation2
--- stderr: fishbot_navigation2                                      
Traceback (most recent call last):
  File "/opt/ros/humble/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 22, in <module>
    from catkin_pkg.package import parse_package_string
ModuleNotFoundError: No module named 'catkin_pkg'
CMake Error at /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:95 (message):
  execute_process(/home/ros2/miniconda3/bin/python3
  /opt/ros/humble/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py
  /home/ros2/Desktop/d2lros2/chapt2/Julie_ws/fishbot/src/fishbot_navigation2/package.xml
  /home/ros2/Desktop/d2lros2/chapt2/Julie_ws/fishbot/build/fishbot_navigation2/ament_cmake_core/package.cmake)
  returned error code 1
Call Stack (most recent call first):
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:49 (_ament_package_xml)
  /opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_find_test_dependencies.cmake:31 (ament_package_xml)
  CMakeLists.txt:34 (ament_lint_auto_find_test_dependencies)


---
Failed   <<< fishbot_navigation2 [4.18s, exited with code 1]
Aborted  <<< fishbot_cartographer [8.20s]
Aborted  <<< fishbot_interfaces [7.96s]
Aborted  <<< fishbot_bringup [13.3s]                             

Summary: 1 package finished [15.9s]
  1 package failed: fishbot_navigation2
  3 packages aborted: fishbot_bringup fishbot_cartographer fishbot_interfaces
  4 packages had stderr output: fishbot_bringup fishbot_cartographer fishbot_interfaces fishbot_navigation2

小鱼

@guoxiaoqing2350 在 [FishBot教程]7. FishBot-Nav2导航测试中说：

(base)

请退出conda！！！！

guoxiaoqing2350

@小鱼谢谢小鱼，已经解决了

笑BLUE齿

@小鱼这个一键安装后的rosdepc还是需要初始化，但是我初始化的时候显示

笑BLUE齿

@2934775495这样该怎么解决呢

笑BLUE齿

鱼哥，我第三步会出现这种问题，是怎么回事啊

小鱼

@2934775495 sudo apt install ros-humble-joint-state-publisher

笑BLUE齿

@小鱼已经解决了，但是后面启动导航出问题了，我改了.py文件的内容出现这个问题，我是在VScode里面打开一个终端进行colcon build的，不知道为什么不可以

笑BLUE齿

@2934775495

又试了一遍，现在是这样子

🇨🇳

明明有文件，为什么找不到包呢？

笑BLUE齿

@2916186745 不知道啊，很奇怪

小鱼

@2916186745 目录搞错了，你应该在工作空间下构建和source

空无之时

此回复已被删除！

秩

@2496480233 看看路径里是不是有中文

笑BLUE齿

052c1584-07b1-4fc8-b961-be9f0bf37a68-8898034e163cabab3d4a9c75cff6400.jpg
鱼哥，我这边跑导航测试那一步ros2 launch fishbot_navigation2 navigation2.launch.py的时候会出现这个问题，要怎么解决呢？

小鱼

@2934775495 按照要求，单独发帖提问下

liao_03

@2934775495 我也有同样的问题

小鹿

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？

萧十一郎

@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']"