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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 @2934775495
      最后由 编辑

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

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

      29347754952 1 条回复 最后回复 回复 引用 0
      • 29347754952
        笑BLUE齿 @小鱼
        最后由 编辑

        @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
        d28afd0a-a216-4cfd-9721-8ad74f273ea1-image.png b9dca745-2a6f-4050-8f26-cbd3e28855d2-image.png

        29347754952 1 条回复 最后回复 回复 引用 0
        • 29347754952
          笑BLUE齿 @2934775495
          最后由 编辑

          @2934775495
          428c041e-7f5b-4a63-8cbc-ce8445fc4cff-image.png
          又试了一遍,现在是这样子

          1 条回复 最后回复 回复 引用 0
          • 2
            🇨🇳
            最后由 编辑

            mmexport1711448812590.jpg
            明明有文件,为什么找不到包呢?

            29347754952 小鱼小 2 条回复 最后回复 回复 引用 0
            • 29347754952
              笑BLUE齿 @2916186745
              最后由 编辑

              @2916186745 不知道啊,很奇怪

              1 条回复 最后回复 回复 引用 0
              • 小鱼小
                小鱼 技术大佬 @2916186745
                最后由 编辑

                @2916186745 目录搞错了,你应该在工作空间下构建和source

                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
                • 5152617255
                  空无之时
                  最后由 编辑

                  此回复已被删除!
                  1 条回复 最后回复 回复 引用 0
                  • 14492629671
                    秩 @2496480233
                    最后由 编辑

                    @2496480233 看看路径里是不是有中文

                    1 条回复 最后回复 回复 引用 0
                    • 29347754952
                      笑BLUE齿
                      最后由 编辑

                      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?

                      小鱼小 L 2 条回复 最后回复 回复 引用 0
                      • 小鱼小
                        小鱼 技术大佬 @2934775495
                        最后由 编辑

                        @2934775495 按照要求,单独发帖提问下

                        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
                        • L
                          liao_03 @2934775495
                          最后由 编辑

                          @2934775495 我也有同样的问题

                          1 条回复 最后回复 回复 引用 0
                          • 24062910852
                            小鹿
                            最后由 编辑

                            9bf18dc86bb899d2076438afb4ff0135.png 249e13019c21c61e97c649d9f8dd4d14.png
                            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

                            ROS 导航

                            1 条回复 最后回复 回复 引用 0
                            • S
                              sexysmile @1032063747
                              最后由 编辑

                              @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?

                              1 条回复 最后回复 回复 引用 0
                              • 1
                                萧十一郎
                                最后由 编辑

                                @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']"
                                
                                
                                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 @1578752813
                                  最后由 编辑

                                  @1578752813 1.请使用ubuntu22.04 系统 2.请安装 joint_state_publisher

                                  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
                                    Ryan🎸
                                    最后由 编辑

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

                                    rosdep install --from-paths src --ignore-src -y -r

                                    使用foxy版本的ros2的话,git clone 之后,记得要git checkout foxy,切换到对应分支,否则安装依赖时会有部分安装不上。

                                    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 @1006076811
                                      最后由 编辑

                                      @1006076811 👍

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

                                      1 1 条回复 最后回复 回复 引用 0
                                      • 1
                                        Ryan🎸 @小鱼
                                        最后由 编辑

                                        @小鱼
                                        我发现foxy版本fishbot_bringup没有这个包,还需要执行以下步骤吗?
                                        如果不执行,直接执行nav2似乎不行

                                        source install/setup.bash
                                        ros2 launch fishbot_bringup fishbot_bringup.launch.py
                                        
                                        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 @1006076811
                                          最后由 编辑

                                          @1006076811 可以把humble版本的拷贝过去

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

                                          4 2 条回复 最后回复 回复 引用 0
                                          • 4
                                            qyq @2496480233
                                            最后由 编辑

                                            此回复已被删除!
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