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    [FishBot教程]9.0.7. FishBot-Nav2导航测试

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    • 26334757882
      luzhongfa @小鱼
      最后由 编辑

      @小鱼 我这边遇到的问题是:当我启动导航控制节点完之后,也点击了初始化定位状态位置,然后一直没加载出来相关的全局代价地图以及被地代价地图以及激光在地图上标记的数据。这是什么原因呢?

      1 条回复 最后回复 回复 引用 0
      • 19549236371
        1954923637
        最后由 编辑

        微信图片_20230810145348.jpg
        编译出错鱼哥。这是为啥

        小鱼小 1 条回复 最后回复 回复 引用 0
        • 19549236371
          1954923637 @2496480233
          最后由 编辑

          @2496480233 解决了吗我也是这个编译出错

          5655178305 1 条回复 最后回复 回复 引用 0
          • 小鱼小
            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。

            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
            • 1544536831
              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

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

                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
                • 17405804851
                  1740580485
                  最后由 编辑

                  小鱼哥,我第一步就错了d3d68231-fb51-41d8-9ebf-fc8ce87dcdbe-image.png

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

                    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
                      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']"
                      
                      
                      小鱼小 1 条回复 最后回复 回复 引用 0
                      • 小鱼小
                        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

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

                        19238250151 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']"

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

                            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
                            • 10416326111
                              燦.
                              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

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

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

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                                • 北北
                                  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?

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

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                                    • 5655178305
                                      我姓徐 💋
                                      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

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

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

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                                        • 5655178305
                                          我姓徐 💋
                                          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

                                          14492629671 1 条回复 最后回复 回复 引用 1
                                          • 5655178305
                                            我姓徐 💋 @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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