[FishBot教程]9.0.7. FishBot-Nav2导航测试

[小鱼]

@18296522393 建议用humble版本，另外需要单独装一下nav2_bringup，你可以看最新的视频或书，7.2章节有介绍命令。

[1634769990]

@1683127550 请问解决了吗？

[yongyong]

@1683127550 你这个解决了吗

[yongyong]

2d pose estimate 初始化不了怎么回事呢

[小鱼]

@yongyong 把终端日志拿出来看看

[2075605318]

lwb@Lwb:~/fishbot_nav$ colcon build
Starting >>> fishbot_bringup
Starting >>> fishbot_cartographer
Starting >>> fishbot_description
Starting >>> fishbot_interfaces
Starting >>> fishbot_navigation2
Finished <<< fishbot_cartographer [0.09s]
Finished <<< fishbot_navigation2 [0.09s]
Finished <<< fishbot_description [0.11s]
Finished <<< fishbot_bringup [0.13s]
--- stderr: fishbot_interfaces
Traceback (most recent call last):
File "/home/lwb/fishbot_nav/build/fishbot_interfaces/ament_cmake_python/fishbot_interfaces/setup.py", line 4, in <module>
setup(
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/init.py", line 117, in setup
return distutils.core.setup(**attrs)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 186, in setup
return run_commands(dist)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 202, in run_commands
dist.run_commands()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 983, in run_commands
self.run_command(cmd)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/dist.py", line 999, in run_command
super().run_command(command)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 1002, in run_command
cmd_obj.run()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 312, in run
self.find_sources()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 320, in find_sources
mm.run()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 548, in run
self.prune_file_list()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/sdist.py", line 162, in prune_file_list
super().prune_file_list()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/command/sdist.py", line 380, in prune_file_list
base_dir = self.distribution.get_fullname()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_core_metadata.py", line 272, in get_fullname
return _distribution_fullname(self.get_name(), self.get_version())
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_core_metadata.py", line 290, in _distribution_fullname
canonicalize_version(version, strip_trailing_zero=False),
TypeError: canonicalize_version() got an unexpected keyword argument 'strip_trailing_zero'
gmake[2]: *** [CMakeFiles/ament_cmake_python_build_fishbot_interfaces_egg.dir/build.make:70：CMakeFiles/ament_cmake_python_build_fishbot_interfaces_egg] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:447：CMakeFiles/ament_cmake_python_build_fishbot_interfaces_egg.dir/all] 错误 2
gmake[1]: *** 正在等待未完成的任务....
gmake: *** [Makefile:146：all] 错误 2

Failed <<< fishbot_interfaces [0.39s, exited with code 2]

Summary: 4 packages finished [0.52s]
1 package failed: fishbot_interfaces
1 package had stderr output: fishbot_interfaces

按照步骤来的这个interface一直编译不过是不是源代码有语法错误

[yongyong]

file:///home/lyy/%E5%9B%BE%E7%89%87/%E6%88%AA%E5%9B%BE/%E6%88%AA%E5%9B%BE%202025-03-29%2014-32-11.png

这个出了什么问题啊

[yongyong]

@1634769990 你解决了吗

[165437424]

可以实现导航功能，但不准确。而且雷达会报error ,不知道有哪位大神可以指点如何解决。

[ydlidar_node-2] [2025-04-05 01:04:07][error] Check Sum 0x59BC != 0x8FAA
[ydlidar_node-2] [2025-04-05 01:04:07][error] Check Sum 0x0199 != 0x4A68
[ydlidar_node-2] [2025-04-05 01:04:07][error] Check Sum 0x45A6 != 0x493D
[ydlidar_node-2] [2025-04-05 01:04:55][error] Check Sum 0x73D6 != 0x5C76
[ydlidar_node-2] [2025-04-05 01:05:30][error] Check Sum 0x0077 != 0x3023
[ydlidar_node-2] [2025-04-05 01:05:51][error] Check Sum 0x6D00 != 0x7940
[ydlidar_node-2] [2025-04-05 01:05:51][error] Check Sum 0x6874 != 0x64AF
[ydlidar_node-2] [2025-04-05 01:05:59][error] Check Sum 0x75C8 != 0x6DCC
[ydlidar_node-2] [2025-04-05 01:06:03][error] Check Sum 0x69BA != 0x6FB2
[ydlidar_node-2] [2025-04-05 01:06:34][error] Check Sum 0x1C86 != 0x0D49
[ydlidar_node-2] [2025-04-05 01:06:39][error] Check Sum 0x60F6 != 0x4492
[ydlidar_node-2] [2025-04-05 01:06:56][error] Check Sum 0x01A6 != 0x2E11
[ydlidar_node-2] [2025-04-05 01:06:56][error] Check Sum 0x6C28 != 0x0F78
[ydlidar_node-2] [2025-04-05 01:07:02][error] Check Sum 0x6450 != 0x6A17
[ydlidar_node-2] [2025-04-05 01:07:03][error] Check Sum 0x7495 != 0x4DBD
[ydlidar_node-2] [2025-04-05 01:07:13][error] Check Sum 0x7516 != 0x71E2
[ydlidar_node-2] [2025-04-05 01:07:22][error] Check Sum 0x1D3E != 0x5AEA

[小鱼]

@165437424 最近会更新下雷达驱动，这个偶尔出现一次没问题

[2768003759]

此回复已被删除！

[2768003759]

此回复已被删除！

[2768003759]

@1250372262 在 [FishBot教程]9.0.7. FishBot-Nav2导航测试 中说：

建图都是没有问题的了 然后我按照导航测试那块 启动了fishbot_bringup 然后把地图换了，启动导航的时候地图能加载出来，但是点击2D Pose Estimate的时候，界面没有反应，不像之前那样了，并且也不能导航

也是这个问题

[小鱼]

@2768003759 导航的时候雷达驱动，底盘驱动之类的都不能关闭，先检查各个话题数据是否正常，然后检查tf是否正常

[法大]

@小鱼 鱼哥启动microros错误什么原因
之前都能成功

[小鱼]

@法大 右上角搜 bind error ，你不复制粘贴，我就不帮你搜了

[yongyong]

请问出现了什么问题

[1142603834]

使用ros2 launch fishbot_navigation2 navigation2.launch.py use_sim_time:=False指令终端出现这个问题，用的是git下来的例程。在rviz2中使用2D POSE ESTIMATE也无法看见雷达信息和代价地图。
单独launch bringup_quick.launch.py文件
话题中没有robot_description话题，ros2 topic echo /odom没有返回消息，请问这是什么原因？

[1142603834]

@1142603834

[小鱼]

@1142603834 1. 启动 agent
2. 检查 odom话题
3. 检查 odom 话题转 tf是否正常