解决了，今天早上重新安装ROS2更换镜像源成功了，估计是网络还有镜像源的问题吧
wasd@wasd-virtual-machine:~/chapt6/chapt6_ws$ ros2 launch fishbot_description display_robot.lauch.py
[INFO] [launch]: All log files can be found below /home/wasd/.ros/log/2025-05-13-11-26-42-773028-wasd-virtual-machine-12101
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [12103]
[INFO] [joint_state_publisher-2]: process started with pid [12105]
[INFO] [rviz2-3]: process started with pid [12107]
[robot_state_publisher-1] [INFO] [1747106802.833965744] [robot_state_publisher]: got segment base
[robot_state_publisher-1] [INFO] [1747106802.834038713] [robot_state_publisher]: got segment imu
[rviz2-3] /opt/ros/humble/lib/rviz2/rviz2: symbol lookup error: /snap/core20/current/lib/x86_64-linux-gnu/libpthread.so.0: undefined symbol: __libc_pthread_init, version GLIBC_PRIVATE
[ERROR] [rviz2-3]: process has died [pid 12107, exit code 127, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/wasd/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/rviz/display.rviz --ros-args'].
[joint_state_publisher-2] [INFO] [1747106803.065341028] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1747106805.722844186] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 12103]
[INFO] [joint_state_publisher-2]: process has finished cleanly [pid 12105]
会不会出现什么bug或者不兼容的情况
各位大佬大家好，我是利用传感器融合得出小车的定位，然后没有启用amcl定位，但是在rviz里面进行单点导航的时候，只有全局规划路径，没有局部规划路径，求赐教，我不是很懂
yu@yu-VMware-Virtual-Platform:~$ ros2 launch navigation_control_pkg nav_launch.py
[INFO] [launch]: All log files can be found below /home/yu/.ros/log/2025-05-13-09-48-33-953275-yu-VMware-Virtual-Platform-15914
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [15917]
[INFO] [rviz2-2]: process started with pid [15918]
[INFO] [map_server-3]: process started with pid [15919]
[INFO] [planner_server-4]: process started with pid [15920]
[INFO] [controller_server-5]: process started with pid [15921]
[INFO] [smoother_server-6]: process started with pid [15922]
[INFO] [bt_navigator-7]: process started with pid [15923]
[INFO] [static_odom_publisher-8]: process started with pid [15924]
[INFO] [behavior_server-9]: process started with pid [15925]
[INFO] [lifecycle_manager-10]: process started with pid [15926]
[robot_state_publisher-1] [WARN] [1747100914.324080285] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-1] [INFO] [1747100914.324150889] [robot_state_publisher]: Robot initialized
[lifecycle_manager-10] [INFO] [1747100914.329658698] [lifecycle_manager_navigation]: Creating
[smoother_server-6] [INFO] [1747100914.375066483] [smoother_server]:
[smoother_server-6] smoother_server lifecycle node launched.
[smoother_server-6] Waiting on external lifecycle transitions to activate
[smoother_server-6] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-4] [INFO] [1747100914.390594806] [planner_server]:
[planner_server-4] planner_server lifecycle node launched.
[planner_server-4] Waiting on external lifecycle transitions to activate
[planner_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-7] [INFO] [1747100914.394227232] [bt_navigator]:
[bt_navigator-7] bt_navigator lifecycle node launched.
[bt_navigator-7] Waiting on external lifecycle transitions to activate
[bt_navigator-7] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-10] [INFO] [1747100914.398661698] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[planner_server-4] [INFO] [1747100914.412073873] [planner_server]: Creating
[smoother_server-6] [INFO] [1747100914.412327716] [smoother_server]: Creating smoother server
[bt_navigator-7] [INFO] [1747100914.414433545] [bt_navigator]: Creating
[planner_server-4] [INFO] [1747100914.507837234] [global_costmap.global_costmap]:
[planner_server-4] global_costmap lifecycle node launched.
[planner_server-4] Waiting on external lifecycle transitions to activate
[planner_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-4] [INFO] [1747100914.522232758] [global_costmap.global_costmap]: Creating Costmap
[behavior_server-9] [INFO] [1747100914.560246631] [behavior_server]:
[behavior_server-9] behavior_server lifecycle node launched.
[behavior_server-9] Waiting on external lifecycle transitions to activate
[behavior_server-9] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-5] [INFO] [1747100914.605466176] [controller_server]:
[controller_server-5] controller_server lifecycle node launched.
[controller_server-5] Waiting on external lifecycle transitions to activate
[controller_server-5] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-3] [INFO] [1747100914.624003150] [map_server]:
[map_server-3] map_server lifecycle node launched.
[map_server-3] Waiting on external lifecycle transitions to activate
[map_server-3] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-5] [INFO] [1747100914.629008846] [controller_server]: Creating controller server
[map_server-3] [INFO] [1747100914.631626954] [map_server]: Creating
[lifecycle_manager-10] [INFO] [1747100914.676654833] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-10] [INFO] [1747100914.677305658] [lifecycle_manager_navigation]: Configuring map_server
[map_server-3] [INFO] [1747100914.679942003] [map_server]: Configuring
[map_server-3] [INFO] [1747100914.680570645] [map_io]: Loading yaml file: /home/yu/bvad_sys/install/navigation_control_pkg/share/navigation_control_pkg/map_demo/map2.yaml
[map_server-3] [INFO] [1747100914.685466151] [map_io]: resolution: 0.05
[map_server-3] [INFO] [1747100914.685496588] [map_io]: origin[0]: 0
[map_server-3] [INFO] [1747100914.685502973] [map_io]: origin[1]: 0
[map_server-3] [INFO] [1747100914.685524186] [map_io]: origin[2]: 0
[map_server-3] [INFO] [1747100914.685530897] [map_io]: free_thresh: 0.25
[map_server-3] [INFO] [1747100914.685537137] [map_io]: occupied_thresh: 0.65
[map_server-3] [INFO] [1747100914.685547493] [map_io]: mode: trinary
[map_server-3] [INFO] [1747100914.685554290] [map_io]: negate: 0
[map_server-3] [INFO] [1747100914.687340625] [map_io]: Loading image_file: /home/yu/bvad_sys/install/navigation_control_pkg/share/navigation_control_pkg/map_demo/map2.pgm
[controller_server-5] [INFO] [1747100914.689724656] [local_costmap.local_costmap]:
[controller_server-5] local_costmap lifecycle node launched.
[controller_server-5] Waiting on external lifecycle transitions to activate
[controller_server-5] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-5] [INFO] [1747100914.692032104] [local_costmap.local_costmap]: Creating Costmap
[map_server-3] [INFO] [1747100914.968284565] [map_io]: Read map /home/yu/bvad_sys/install/navigation_control_pkg/share/navigation_control_pkg/map_demo/map2.pgm: 2670 X 1132 map @ 0.05 m/cell
[lifecycle_manager-10] [INFO] [1747100914.989223846] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-4] [INFO] [1747100914.989668760] [planner_server]: Configuring
[planner_server-4] [INFO] [1747100914.989698284] [global_costmap.global_costmap]: Configuring
[planner_server-4] [INFO] [1747100915.001097389] [global_costmap.global_costmap]: Using plugin "static_layer"
[rviz2-2] [INFO] [1747100915.005090150] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1747100915.007370141] [rviz2]: OpenGl version: 4.3 (GLSL 4.3)
[planner_server-4] [INFO] [1747100915.008955159] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-4] [INFO] [1747100915.012457047] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-4] [INFO] [1747100915.012504378] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-4] [INFO] [1747100915.012833094] [global_costmap.global_costmap]: Subscribed to Topics:
[planner_server-4] [INFO] [1747100915.012885175] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-4] [INFO] [1747100915.012894492] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-4] [INFO] [1747100915.013110899] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-4] [INFO] [1747100915.060493575] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner
[planner_server-4] [INFO] [1747100915.060545036] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-4] [INFO] [1747100915.061490535] [planner_server]: Planner Server has GridBased planners available.
[lifecycle_manager-10] [INFO] [1747100915.086606540] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-5] [INFO] [1747100915.086914040] [controller_server]: Configuring controller interface
[controller_server-5] [INFO] [1747100915.086936697] [controller_server]: getting progress checker plugins..
[controller_server-5] [INFO] [1747100915.087893026] [controller_server]: getting goal checker plugins..
[controller_server-5] [INFO] [1747100915.088841874] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-5] [INFO] [1747100915.088887492] [local_costmap.local_costmap]: Configuring
[rviz2-2] [INFO] [1747100915.100599344] [rviz2]: Stereo is NOT SUPPORTED
[controller_server-5] [INFO] [1747100915.103631812] [local_costmap.local_costmap]: Using plugin "static_layer"
[controller_server-5] [INFO] [1747100915.113471162] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[controller_server-5] [INFO] [1747100915.120460130] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[controller_server-5] [INFO] [1747100915.120497637] [local_costmap.local_costmap]: Using plugin "obstacle_layer"
[controller_server-5] [INFO] [1747100915.120697903] [local_costmap.local_costmap]: Subscribed to Topics:
[controller_server-5] [INFO] [1747100915.120755539] [local_costmap.local_costmap]: Initialized plugin "obstacle_layer"
[controller_server-5] [INFO] [1747100915.120764605] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-5] [INFO] [1747100915.120940097] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-5] [INFO] [1747100915.152247604] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-5] [INFO] [1747100915.152443931] [controller_server]: Controller Server has progress_checker progress checkers available.
[controller_server-5] [INFO] [1747100915.152811694] [controller_server]: Created goal checker : goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-5] [INFO] [1747100915.155203128] [controller_server]: Controller Server has goal_checker goal checkers available.
[controller_server-5] [INFO] [1747100915.156430196] [controller_server]: Created controller : FollowPath of type nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController
[controller_server-5] [INFO] [1747100915.162167774] [controller_server]: Controller Server has FollowPath controllers available.
[lifecycle_manager-10] [INFO] [1747100915.181558813] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-6] [INFO] [1747100915.181900889] [smoother_server]: Configuring smoother server
[smoother_server-6] [INFO] [1747100915.211209905] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-6] [INFO] [1747100915.216868949] [smoother_server]: Smoother Server has simple_smoother smoothers available.
[lifecycle_manager-10] [INFO] [1747100915.230298375] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-7] [INFO] [1747100915.230516639] [bt_navigator]: Configuring
[bt_navigator-7] [INFO] [1747100915.246862416] [bt_navigator]: Creating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator
[bt_navigator-7] [INFO] [1747100915.346964804] [bt_navigator]: Creating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator
[rviz2-2] [INFO] [1747100915.360519023] [rviz2_unique]: Subscribing to: /mobile_base/sensors/bumper_pointcloud
[rviz2-2]
[rviz2-2] [INFO] [1747100915.364062100] [rviz2_unique]: Subscribing to: /mobile_base/sensors/bumper_pointcloud
[rviz2-2]
[rviz2-2] [INFO] [1747100915.376528718] [rviz2_unique]: Subscribing to: /local_costmap/voxel_marked_cloud
[rviz2-2]
[lifecycle_manager-10] [INFO] [1747100915.411092678] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-9] [INFO] [1747100915.411396377] [behavior_server]: Configuring
[behavior_server-9] [INFO] [1747100915.429790675] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors::Spin
[behavior_server-9] [INFO] [1747100915.430847719] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors::BackUp
[behavior_server-9] [INFO] [1747100915.433852608] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading
[behavior_server-9] [INFO] [1747100915.435181552] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors::Wait
[behavior_server-9] [INFO] [1747100915.451081211] [behavior_server]: Configuring spin
[rviz2-2] [INFO] [1747100915.470103711] [rviz2_unique]: Subscribing to: /global_costmap/voxel_marked_cloud
[rviz2-2]
[behavior_server-9] [INFO] [1747100915.478426684] [behavior_server]: Configuring backup
[behavior_server-9] [INFO] [1747100915.484645655] [behavior_server]: Configuring drive_on_heading
[behavior_server-9] [INFO] [1747100915.490930700] [behavior_server]: Configuring wait
[lifecycle_manager-10] [INFO] [1747100915.499227574] [lifecycle_manager_navigation]: Activating map_server
[map_server-3] [INFO] [1747100915.499437800] [map_server]: Activating
[map_server-3] [INFO] [1747100915.507832965] [map_server]: Creating bond (map_server) to lifecycle manager.
[rviz2-2] [INFO] [1747100915.555908701] [rviz2_unique]: Subscribing to: /mobile_base/sensors/bumper_pointcloud
[rviz2-2]
[rviz2-2] [INFO] [1747100915.559498498] [rviz2_unique]: Subscribing to: /local_costmap/voxel_marked_cloud
[rviz2-2]
[rviz2-2] [INFO] [1747100915.583296897] [rviz2_unique]: Subscribing to: /global_costmap/voxel_marked_cloud
[rviz2-2]
[controller_server-5] [INFO] [1747100915.591396723] [local_costmap.local_costmap]: StaticLayer: Resizing costmap to 2670 X 1132 at 0.050000 m/pix
[planner_server-4] [INFO] [1747100915.610825872] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 2670 X 1132 at 0.050000 m/pix
[lifecycle_manager-10] [INFO] [1747100915.632059666] [lifecycle_manager_navigation]: Server map_server connected with bond.
[lifecycle_manager-10] [INFO] [1747100915.632111258] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-4] [INFO] [1747100915.632732619] [planner_server]: Activating
[planner_server-4] [INFO] [1747100915.632772647] [global_costmap.global_costmap]: Activating
[planner_server-4] [INFO] [1747100915.632782393] [global_costmap.global_costmap]: Checking transform
[planner_server-4] [INFO] [1747100915.632889724] [global_costmap.global_costmap]: start
[planner_server-4] [INFO] [1747100915.683179517] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-4] [INFO] [1747100915.702894231] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[rviz2-2] [WARN] [1747100915.710031613] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2_unique'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2_unique' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-2] [INFO] [1747100915.750628379] [rviz2_unique]: Trying to load plugins...
[rviz2-2] [WARN] [1747100915.755316149] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2_unique'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2_unique' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[lifecycle_manager-10] [INFO] [1747100915.821212826] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-10] [INFO] [1747100915.821321759] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-5] [INFO] [1747100915.821849868] [controller_server]: Activating
[controller_server-5] [INFO] [1747100915.821878751] [local_costmap.local_costmap]: Activating
[controller_server-5] [INFO] [1747100915.821887979] [local_costmap.local_costmap]: Checking transform
[controller_server-5] [INFO] [1747100915.822033717] [local_costmap.local_costmap]: start
[controller_server-5] [INFO] [1747100915.922174130] [controller_server]: Activating controller: FollowPath of type regulated_pure_pursuit_controller::RegulatedPurePursuitController
[controller_server-5] [INFO] [1747100915.922220582] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[rviz2-2] [INFO] [1747100916.033091367] [rviz2]: Trying to create a map of size 2670 x 1132 using 1 swatches
[lifecycle_manager-10] [INFO] [1747100916.042536544] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[lifecycle_manager-10] [INFO] [1747100916.042586872] [lifecycle_manager_navigation]: Activating smoother_server
[smoother_server-6] [INFO] [1747100916.044912328] [smoother_server]: Activating
[smoother_server-6] [INFO] [1747100916.044950947] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[rviz2-2] [INFO] [1747100916.094060392] [rviz2]: Trying to create a map of size 2670 x 1132 using 1 swatches
[rviz2-2] [ERROR] [1747100916.137903162] [rviz2]: rviz/glsl120/indexed_8bit_image.vert
[rviz2-2] rviz/glsl120/indexed_8bit_image.frag
[rviz2-2] GLSL link result :
[rviz2-2] active samplers with a different type refer to the same texture image unit
[rviz2-2] [INFO] [1747100916.141096146] [rviz2]: Trying to create a map of size 2670 x 1132 using 1 swatches
[lifecycle_manager-10] [INFO] [1747100916.166517431] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[lifecycle_manager-10] [INFO] [1747100916.166591733] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-7] [INFO] [1747100916.166933140] [bt_navigator]: Activating
[bt_navigator-7] [INFO] [1747100916.309872959] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[lifecycle_manager-10] [INFO] [1747100916.424425426] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[lifecycle_manager-10] [INFO] [1747100916.424461215] [lifecycle_manager_navigation]: Activating behavior_server
[behavior_server-9] [INFO] [1747100916.427324147] [behavior_server]: Activating
[behavior_server-9] [INFO] [1747100916.427362810] [behavior_server]: Activating spin
[behavior_server-9] [INFO] [1747100916.427377942] [behavior_server]: Activating backup
[behavior_server-9] [INFO] [1747100916.427389451] [behavior_server]: Activating drive_on_heading
[behavior_server-9] [INFO] [1747100916.427442800] [behavior_server]: Activating wait
[behavior_server-9] [INFO] [1747100916.427460360] [behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[lifecycle_manager-10] [INFO] [1747100916.537525356] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[lifecycle_manager-10] [INFO] [1747100916.537563709] [lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-10] [INFO] [1747100916.537587494] [lifecycle_manager_navigation]: Creating bond timer...
[rviz2-2] Start navigation
[rviz2-2] [INFO] [1747100938.437666145] [rviz_navigation_dialog_action_client]: NavigateToPose will be called using the BT Navigator's default behavior tree.
[bt_navigator-7] [INFO] [1747100938.439450583] [bt_navigator]: Begin navigating from current location (10.00, 4.00) to (4.51, 7.93)
[controller_server-5] [INFO] [1747100938.552162495] [controller_server]: Received a goal, begin computing control effort.
[controller_server-5] [WARN] [1747100938.552307376] [controller_server]: No goal checker was specified in parameter 'current_goal_checker'. Server will use only plugin loaded goal_checker . This warning will appear once.
[controller_server-5] [WARN] [1747100938.552332650] [controller_server]: No progress checker was specified in parameter 'current_progress_checker'. Server will use only plugin loaded progress_checker . This warning will appear once.
[controller_server-5] [INFO] [1747100939.702587032] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100940.752561406] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100941.803278556] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100947.202570958] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100948.252556747] [controller_server]: Passing new path to controller.
[controller_server-5] [ERROR] [1747100948.552809409] [controller_server]: Failed to make progress
[controller_server-5] [WARN] [1747100948.552971603] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[controller_server-5] [INFO] [1747100948.570876810] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[controller_server-5] [INFO] [1747100948.573142219] [controller_server]: Received a goal, begin computing control effort.
[controller_server-5] [WARN] [1747100948.654333109] [controller_server]: Control loop missed its desired rate of 20.0000 Hz. Current loop rate is 12.3275 Hz.
[controller_server-5] [INFO] [1747100949.273638559] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100950.323316794] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100951.423340753] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100952.473318006] [controller_server]: Passing new path to controller.
[controller_server-5] [ERROR] [1747100958.673391416] [controller_server]: Failed to make progress
[controller_server-5] [WARN] [1747100958.673562147] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[controller_server-5] [INFO] [1747100958.691254258] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[planner_server-4] [INFO] [1747100958.695229421] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[controller_server-5] [INFO] [1747100958.880952627] [controller_server]: Received a goal, begin computing control effort.
[controller_server-5] [INFO] [1747100959.931170220] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100960.981138380] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100962.031349983] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100968.281190344] [controller_server]: Passing new path to controller.
[controller_server-5] [ERROR] [1747100968.881332906] [controller_server]: Failed to make progress
[controller_server-5] [WARN] [1747100968.882182239] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[controller_server-5] [INFO] [1747100968.902825382] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[controller_server-5] [INFO] [1747100968.905313404] [controller_server]: Received a goal, begin computing control effort.
[controller_server-5] [WARN] [1747100969.046377836] [controller_server]: Control loop missed its desired rate of 20.0000 Hz. Current loop rate is 7.0932 Hz.
[controller_server-5] [INFO] [1747100969.354686819] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100970.386770841] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100971.446472436] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100977.596611523] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100978.646474395] [controller_server]: Passing new path to controller.
[controller_server-5] [ERROR] [1747100979.046544245] [controller_server]: Failed to make progress
[controller_server-5] [WARN] [1747100979.046677583] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[behavior_server-9] [INFO] [1747100979.061236331] [behavior_server]: Running spin
[behavior_server-9] [INFO] [1747100979.061428032] [behavior_server]: Turning 1.57 for spin behavior.
[behavior_server-9] [WARN] [1747100989.061669830] [behavior_server]: Exceeded time allowance before reaching the Spin goal - Exiting Spin
[behavior_server-9] [WARN] [1747100989.061726559] [behavior_server]: spin failed
[behavior_server-9] [WARN] [1747100989.061751663] [behavior_server]: [spin] [ActionServer] Aborting handle.
[behavior_server-9] [INFO] [1747100989.081636341] [behavior_server]: Running wait
[behavior_server-9] [INFO] [1747100994.082094697] [behavior_server]: wait completed successfully
[controller_server-5] [INFO] [1747100994.150561701] [controller_server]: Received a goal, begin computing control effort.
[controller_server-5] [INFO] [1747100995.200901794] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100996.300720140] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100997.300758919] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747100998.400733016] [controller_server]: Passing new path to controller.
[controller_server-5] [ERROR] [1747101004.150825352] [controller_server]: Failed to make progress
[controller_server-5] [WARN] [1747101004.151057072] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[controller_server-5] [INFO] [1747101004.172793384] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[controller_server-5] [INFO] [1747101004.174961164] [controller_server]: Received a goal, begin computing control effort.
[controller_server-5] [WARN] [1747101004.245963916] [controller_server]: Control loop missed its desired rate of 20.0000 Hz. Current loop rate is 14.0990 Hz.
[controller_server-5] [INFO] [1747101004.625179592] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747101005.676344516] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747101011.925155244] [controller_server]: Passing new path to controller.
[controller_server-5] [ERROR] [1747101014.275241507] [controller_server]: Failed to make progress
[controller_server-5] [WARN] [1747101014.275501302] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[behavior_server-9] [INFO] [1747101014.290824687] [behavior_server]: Running backup
[behavior_server-9] [WARN] [1747101014.291918011] [behavior_server]: Collision Ahead - Exiting DriveOnHeading
[behavior_server-9] [WARN] [1747101014.291946508] [behavior_server]: backup failed
[behavior_server-9] [WARN] [1747101014.291960385] [behavior_server]: [backup] [ActionServer] Aborting handle.
[controller_server-5] [INFO] [1747101014.310170833] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[planner_server-4] [INFO] [1747101014.311742946] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[controller_server-5] [INFO] [1747101014.500529120] [controller_server]: Received a goal, begin computing control effort.
[controller_server-5] [INFO] [1747101015.550692924] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747101016.600716028] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747101017.701023222] [controller_server]: Passing new path to controller.
[controller_server-5] [INFO] [1747101018.750732518] [controller_server]: Passing new path to controller.
[controller_server-5] [ERROR] [1747101024.500767787] [controller_server]: Failed to make progress
[controller_server-5] [WARN] [1747101024.500844816] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[controller_server-5] [INFO] [1747101024.520278303] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[controller_server-5] [INFO] [1747101024.522308097] [controller_server]: Received a goal, begin computing control effort.
[controller_server-5] [WARN] [1747101024.653490396] [controller_server]: Control loop missed its desired rate of 20.0000 Hz. Current loop rate is 7.6269 Hz.
[controller_server-5] [INFO] [1747101024.960873299] [controller_server]: Passing new path to controller.
6b982b80-5a19-4893-ab6a-ead16d932fdc-image.png
问题如下：
在构造函数中，既然在初始化subscriber_时，就将msg写入label中，那么下面为何还要把一个空的指针给初始化的label，如果将QLabel中的参数删除，为何无法成功运行？
5a19930c-922c-4610-8668-cefa84db475a-图片.png
install 路径下没有生成setup.bash文件，生成的是setup.sh文件。
source install/setup.sh 文件，运行
ros2 run demo_python_pkg python_node 无法找到包。
export路径可以临时运行。
求解，为啥生成的文件不一样，为啥运行，无法将路径添加到环境变量。
有echo出环境变量，.sh脚本导入环境变量不对。
798dc78b-ac82-403a-9b0a-1c6ab01b9feb-image.png
08e55162-dd53-41bd-831b-cdf469827f08-image.png
4d07d1a6-e502-4787-94da-a6b9f7fe5157-image.png
QQ20250511-220637.png
3aba672c-c09e-41bc-aa2f-d82d8339e5f9-ade761c84f29d2a2d25e11f7fb1a694.png
大佬们，这个地方怎么把map->odom的tf转换调出来
使用的是ubuntu22.04版本，之前都能加载出gazebo，最近不能加载出来了，但是单独打开Gazebo能启动，
[ERROR] [gzserver-2]: process has died [pid 16699, exit code -6, cmd 'gzserver /home/xinhongwang/nav2_ws/install/cpp06_urdf/share/cpp06_urdf/worlds/house3 -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
如题，系统版本是24.10，现在好像不支持一键安装ROS
报错是[{
"resource": "/home/lzx/桌面/chapt7/damo_pkg_cpp/src/cpp_node.cpp",
"owner": "C/C++: IntelliSense",
"code": "1696",
"severity": 8,
"message": "检测到 #include 错误。请更新 includePath。已为此翻译单元(/home/lzx/桌面/chapt7/damo_pkg_cpp/src/cpp_node.cpp)禁用波形曲线。",
"source": "C/C++",
"startLineNumber": 3,
"startColumn": 1,
"endLineNumber": 3,
"endColumn": 33
},{
"resource": "/home/lzx/桌面/chapt7/damo_pkg_cpp/src/cpp_node.cpp",
"owner": "C/C++: IntelliSense",
"code": "1696",
"severity": 8,
"message": "无法打开 源 文件 "cv_bridge/cv_bridge.h"",
"source": "C/C++",
"startLineNumber": 3,
"startColumn": 1,
"endLineNumber": 3,
"endColumn": 33
}]
程序是```
#include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/image.hpp" #include "cv_bridge/cv_bridge.h" #include "opencv2/opencv.hpp" #include "image_transport/image_transport.hpp" class TextOverlay : public rclcpp::Node { public: TextOverlay() : Node("cpp_node") { publisher_ = image_transport::create_publisher(this, "/turtlesim/sim_with_text"); subscription_ = image_transport::create_subscription ( this, "/turtlesim/sim", [this](const sensor_msgs::msg::Image::ConstSharedPtr& msg) { this->image_callback(msg); }, "raw" ); } private: void image_callback(const sensor_msgs::msg::Image::ConstSharedPtr& msg) { try { cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, "bgr8"); cv::putText( cv_ptr->image, "2024214969", cv::Point(50, 50), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(0, 0, 255), 2 ); publisher_.publish(cv_ptr->toImageMsg()); } catch (const cv_bridge::Exception& e) { RCLCPP_ERROR(this->get_logger(), "cv_bridge error: %s", e.what()); } } image_transport::Publisher publisher_; image_transport::Subscriber subscription_; }; int main(int argc, char** argv) { rclcpp::init(argc, argv); auto node = std::make_shared<TextOverlay>(); rclcpp::spin(node); rclcpp::shutdown(); return 0; } CMAKE是 cmake_minimum_required(VERSION 3.8) project(damo_pkg_cpp) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() # find dependencies find_package(ament_cmake REQUIRED) # uncomment the following section in order to fill in # further dependencies manually. # find_package(<dependency> REQUIRED) find_package(OpenCV REQUIRED) find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) find_package(cv_bridge REQUIRED) find_package(image_transport REQUIRED) add_executable(cpp_node src/cpp_node.cpp) target_include_directories ( cpp_node PRIVATE ${rclcpp_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${sensor_msgs_INCLUDE_DIRS} ${image_transport_INCLUDE_DIRS} ${cv_bridge_INCLUDE_DIRS} ) target_link_libraries ( cpp_node ${rclcpp_LIBRARIES} ${sensor_msgs_LIBRARIES} ${image_transport_LIBRARIES} ${cv_bridge_LIBRARIES} ${OpenCV_LIBRARIES} ) install(TARGETS cpp_node DESTINATION lib/${PROJECT_NAME} ) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights # comment the line when a copyright and license is added to all source files set(ament_cmake_copyright_FOUND TRUE) # the following line skips cpplint (only works in a git repo) # comment the line when this package is in a git repo and when # a copyright and license is added to all source files set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() endif() ament_package() json是``` { "configurations": [ { "name": "Linux", "includePath": [ "${workspaceFolder}/**", "/opt/ros/jazzy/include/**", "/usr/include/**", "/usr/include/opencv4/**" ], "defines": [], "compilerPath": "/usr/bin/g++", "cStandard": "c17", "cppStandard": "gnu++14", "intelliSenseMode": "linux-gcc-x64" } ], "version": 4 }gmapping过程中键盘控制小车前进，rviz小车模型前进在后退，相当于停在原点，不知道有朋友没有碰到过类似的情况。
[ERROR] [1746623009.009235809]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1746623008.963258981 but the latest data is at time 1746623008.961686320, when looking up transform from frame [odom] to frame [map]
[ERROR] [1746623009.009368677]: Global Frame: odom Plan Frame size 26: map
[ WARN] [1746623009.009449157]: Could not transform the global plan to the frame of the controller
启动路径规划后报错，不清楚什么原因，望大佬们看一看，救救孩子
屏幕截图 2025-04-22 201806.png
pip3 install face_recognition -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple朋友下载这个成功了，我还是有错误#
在networkingMode=mirrored的WSL2中，listener和talker无法正常通信。
文件.wslconfig如下图，网络连接模式是镜像模式
f248d55b-ef63-4726-b451-21e16c7953fb-image.png
talker运行结果如下图
8a4f28b0-f748-46c7-a191-076bcd87ed23-image.png
listener运行结果如下
423d1943-aa26-4680-be8f-f0f95f503725-image.png
6.2.2运行显示display_robot.launch.py报错[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'ParameterValue' object has no attribute 'describe_sub_entities'
0fd0c1bc-d368-4fa3-8cf0-986b1e0a3bf5-图片.png
debug log：
dw@dw:~/codes/chapt6/chapt6_ws/src/fishbot_description/launch$ ros2 launch fishbot_description display_robot.launch.py --debug
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/dw/.ros/log/2025-05-06-11-43-05-130647-dw-11442
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7cd550b06560>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7cd550b06560>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7cd550dcd6c0>'
[DEBUG] [launch]: An exception was raised in an async action/event
[DEBUG] [launch]: Traceback (most recent call last):
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 336, in run_async
raise completed_tasks_exceptions[0]
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 230, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 250, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/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/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/include_launch_description.py", line 164, in execute
launch_description.get_launch_arguments_with_include_launch_description_actions())
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description.py", line 161, in get_launch_arguments_with_include_launch_description_actions
process_entities(self.entities, _conditional_inclusion=conditional_inclusion)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description.py", line 152, in process_entities
entity.describe_sub_entities(),
AttributeError: 'ParameterValue' object has no attribute 'describe_sub_entities'
[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'ParameterValue' object has no attribute 'describe_sub_entities'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7cd550dcd5a0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7cd550dcd5a0>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7cd550b07a00>'
从网上没搜到相关问题及解决方案，deepseek更改代码如下：
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
import launch_ros.parameter_descriptions
def generate_launch_description():
urdf_tutorial_path = get_package_share_directory('fishbot_description')
default_model_path = urdf_tutorial_path + '/urdf/first_robot.urdf'
这段代码与书上的主要不同之处是把action_declare_arg_mode_path中default_value参数去掉str()
cooneo@cooneo:~/catkin_ws$ roslaunch nav_slam nav_slam.launch
... logging to /home/cooneo/.ros/log/2fb4aa40-2a1f-11f0-acbc-dca632e39caf/roslaunch-cooneo-28683.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.0.153:41293/
SUMMARYCLEAR PARAMETERS
/move_base/PARAMETERS
/amcl/base_frame_id: base_footprint /amcl/global_frame_id: map /amcl/gui_publish_rate: 10.0 /amcl/kld_err: 0.05 /amcl/kld_z: 0.99 /amcl/laser_lambda_short: 0.1 /amcl/laser_likelihood_max_dist: 2.0 /amcl/laser_max_beams: 30 /amcl/laser_model_type: likelihood_field /amcl/laser_sigma_hit: 0.2 /amcl/laser_z_hit: 0.5 /amcl/laser_z_max: 0.05 /amcl/laser_z_rand: 0.5 /amcl/laser_z_short: 0.05 /amcl/max_particles: 5000 /amcl/min_particles: 500 /amcl/odom_alpha1: 0.2 /amcl/odom_alpha2: 0.2 /amcl/odom_alpha3: 0.8 /amcl/odom_alpha4: 0.2 /amcl/odom_alpha5: 0.1 /amcl/odom_frame_id: odom /amcl/odom_model_type: diff /amcl/transform_tolerance: 0.2 /amcl/update_min_a: 0.5 /amcl/update_min_d: 0.2 /move_base/TrajectoryPlannerROS/acc_lim_theta: 0.6 /move_base/TrajectoryPlannerROS/acc_lim_x: 1.0 /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0 /move_base/TrajectoryPlannerROS/holonomic_robot: False /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0 /move_base/TrajectoryPlannerROS/max_vel_x: 0.5 /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 1.0 /move_base/TrajectoryPlannerROS/min_vel_theta: -1.0 /move_base/TrajectoryPlannerROS/min_vel_x: 0.1 /move_base/TrajectoryPlannerROS/sim_granularity: 0.05 /move_base/TrajectoryPlannerROS/sim_time: 0.8 /move_base/TrajectoryPlannerROS/vtheta_samples: 20 /move_base/TrajectoryPlannerROS/vx_samples: 18 /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.1 /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.05 /move_base/global_costmap/cost_scaling_factor: 3.0 /move_base/global_costmap/global_frame: map /move_base/global_costmap/inflation_radius: 0.2 /move_base/global_costmap/map_type: costmap /move_base/global_costmap/observation_sources: scan /move_base/global_costmap/obstacle_range: 3.0 /move_base/global_costmap/publish_frequency: 1.0 /move_base/global_costmap/raytrace_range: 3.5 /move_base/global_costmap/robot_base_frame: base_footprint /move_base/global_costmap/robot_radius: 0.12 /move_base/global_costmap/scan/clearing: True /move_base/global_costmap/scan/data_type: LaserScan /move_base/global_costmap/scan/marking: True /move_base/global_costmap/scan/sensor_frame: laser /move_base/global_costmap/scan/topic: scan /move_base/global_costmap/static_map: True /move_base/global_costmap/transform_tolerance: 0.5 /move_base/global_costmap/update_frequency: 1.0 /move_base/local_costmap/cost_scaling_factor: 3.0 /move_base/local_costmap/global_frame: odom /move_base/local_costmap/height: 3 /move_base/local_costmap/inflation_radius: 0.2 /move_base/local_costmap/map_type: costmap /move_base/local_costmap/observation_sources: scan /move_base/local_costmap/obstacle_range: 3.0 /move_base/local_costmap/publish_frequency: 10.0 /move_base/local_costmap/raytrace_range: 3.5 /move_base/local_costmap/resolution: 0.05 /move_base/local_costmap/robot_base_frame: base_footprint /move_base/local_costmap/robot_radius: 0.12 /move_base/local_costmap/rolling_window: True /move_base/local_costmap/scan/clearing: True /move_base/local_costmap/scan/data_type: LaserScan /move_base/local_costmap/scan/marking: True /move_base/local_costmap/scan/sensor_frame: laser /move_base/local_costmap/scan/topic: scan /move_base/local_costmap/static_map: False /move_base/local_costmap/transform_tolerance: 1.0 /move_base/local_costmap/update_frequency: 10.0 /move_base/local_costmap/width: 3 /rosdistro: melodic /rosversion: 1.14.13NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)
ROS_MASTER_URI=http://192.168.0.153:11311
process[map_server-1]: started with pid [29149]
process[amcl-2]: started with pid [29150]
process[move_base-3]: started with pid [29152]
[ INFO] [1746497412.106544390]: Requesting the map...
[ WARN] [1746497412.110909306]: Request for map failed; trying again...
[ WARN] [1746497412.612591842]: Request for map failed; trying again...
[ WARN] [1746497413.114413875]: Request for map failed; trying again...
[ WARN] [1746497413.615940977]: Request for map failed; trying again...
[ WARN] [1746497414.117424610]: Request for map failed; trying again...
[ INFO] [1746497414.684970140]: Received a 1984 X 1984 map @ 0.050 m/pix
[ INFO] [1746497415.102103451]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1746497415.453039350]: Done initializing likelihood field model.
[ WARN] [1746497415.718526470]: global_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1746497415.784228117]: global_costmap: Using plugin "static_layer"
[ INFO] [1746497415.852520275]: Requesting the map...
[ INFO] [1746497416.083940712]: Resizing costmap to 1984 X 1984 at 0.050000 m/pix
[ INFO] [1746497416.162248389]: Received a 1984 X 1984 map at 0.050000 m/pix
[ INFO] [1746497416.187822907]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1746497416.210287478]: Subscribed to Topics: scan
[ INFO] [1746497416.257389235]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1746497416.732874443]: local_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1746497416.781833401]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1746497416.792463268]: Subscribed to Topics: scan
[ INFO] [1746497416.838073200]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1746497417.685828974]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1746497417.704228209]: Sim period is set to 0.05
[ WARN] [1746497417.720670628]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settings robust against changes of costmap resolution.
[ INFO] [1746497417.937169600]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1746497417.964736543]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1746497418.047924455]: odom received!
[ WARN] [1746498260.262650638]: Costmap2DROS transform timeout. Current time: 1746498260.2475, global_pose stamp: 1746498259.7060, tolerance: 0.5000
[ WARN] [1746498260.267267042]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1746498269.775144485]: Could not get robot pose, cancelling reconfiguration
[ERROR] [1746498270.848120121]: Extrapolation Error looking up robot pose: Lookup would require extrapolation into the past. Requested time 1746498259.705988196 but the earliest data is at time 1746498260.849833965, when looking up transform from frame [base_footprint] to frame [map]
会出现上述的报错，这是完整的运行结果。tf树完整，不知道原因出在哪里，希望有大佬能够帮助小白。下位机使用的arduino mega2560 rosarduinobridge包为python2版本
raceback (most recent call last):
File "/tmp/fishinstall/install.py", line 134, in <module>
main()File "/tmp/fishinstall/install.py", line 123, in main
run_tool_file(tools[code]['tool'].replace("/","."))File "/tmp/fishinstall/tools/base.py", line 1473, in run_tool_file
tool = importlib.import_module(file.replace(".py","")).Tool()AttributeError: module 'tools.tool_config_system_source' has no attribute 'Tool'
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