294fdc2a-5311-4364-81ab-db620fe88f2d-1745367853576.png
1、执行gazebo_sim.launch.py的时候上图问题
dd7905a1-1581-4f89-9a2b-9e7d18efab56-image.png
2、安装完gazebo后按照教材执行查看命令的时候看不到教材示例

请问这种问题怎么解决

ros@ros2:~/fishbot_ws$ ros2 run yolov5_ros2 yolo_detect_2d --ros-args -p device:=cpu -p image_topic:=/fishbot_camera_raw
[INFO] [1745386092.623652118] [yolov5_ros2]: Current ROS 2 distribution: humble
[INFO] [1745386092.859007222] [yolov5_ros2]: default_camera_info: [476.7030836014194, 0.0, 400.5, 0.0, 476.7030836014194, 400.5, 0.0, 0.0, 1.0]
[0.0, 0.0, 0.0, 0.0, 0.0]

ros2 topic echo /yolo_result
订阅结果为空

@小鱼 能否利用学习板中的两个步进电机插口去控制两个由步进电机控制的小机械臂转动？是否可以用fishbot中的源码呢？

import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
# 获取默认的urdf文件路径
urdf_package_path = get_package_share_directory('fishbot_description')
default_urdf_path = os.path.join(urdf_package_path, 'urdf', 'first_robot.urdf')
# 声明一个URDF目录的参数，方便修改
action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
name = 'model',default_value=str(default_urdf_path),description='加载的模型文件路径'

) # 通过文件路径，获取内容，并转换成参数值对象，以供robot_state_publisher节点使用 substitutions_command_result = launch.substitutions.command(['cat ',launch.substitutions.LaunchConfiguration('model')]) robot_description_value = launch_ros.parameter_descriptions.ParameterValue(substitutions_command_result,value_type=str) action_robot_state_publisher = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', parameters=[{'robot_description': robot_description_value}] ) action_joint_state_publisher = launch_ros.actions.Node( package='joint_state_publisher', executable='joint_state_publisher', ) action_rviz_node = launch_ros.actions.Node( package='rviz2', executable='rviz2', ) return launch.LaunchDescription([ action_declare_arg_mode_path, action_robot_state_publisher, action_joint_state_publisher, action_rviz_node, ])

以下是报错：[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/jin/.ros/log/2025-04-22-16-49-27-291232-jin-Virtual-Machine-11473
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x74ce4db9f730>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x74ce4db9f730>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x74ce4c64fd60>'
[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_description_sources/any_launch_file_utilities.py", line 54, in get_launch_description_from_any_launch_file
return loader(launch_file_path)
File "/opt/ros/humble/lib/python3.10/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 "display_robot.launch.py", line 16, in generate_launch_description
substitutions_command_result = launch.substitutions.command(['cat ',launch.substitutions.LaunchConfiguration('model')])
TypeError: 'module' object is not callable

The above exception was the direct cause of the following exception:

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 148, in execute
launch_description = self.__launch_description_source.get_launch_description(context)
File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
self._get_launch_description(self.__expanded_location)
File "/opt/ros/humble/lib/python3.10/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/humble/lib/python3.10/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 57, in get_launch_description_from_any_launch_file
raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught multiple exceptions when trying to load file of format [py]:

TypeError: 'module' object is not callable InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown

[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:

TypeError: 'module' object is not callable InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x74ce4db9c340>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x74ce4db9c340>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x74ce4db94b50>'

开发环境用x86+ubuntu+linux，能构建出在arm64+android+linux运行的ros2程序包吗？

请教大佬：
我有一台小车，ubuntu22.04系统，电脑上是虚拟机，二者都是22.04，humble版本， 能够互相ping通，在同一网段下，电脑的防火墙也关掉后，对虚拟机进行了重启，电脑没有重启。 我想实现二者的通信。

我将二者的都设置为ROS_DOMAIN_ID=189，写在了.bashrc里。但是我小车端启动小海龟，虚拟机端启动键盘控制节点，无法实现小海龟的运动，在虚拟机端查看话题，只有发布，没有订阅。这是什么原因导致没有通讯成功呢？

b2ec0b47-e5e7-44bd-ae30-483385b89753-screenshot-20250422-114158.png /home/ubuntu/Pictures/screenshot-20250422-114158.png
在仿真环境中，cartographer使用odom建图的时候，机器人向前行驶，rviz中显示机器人不动，map往后行驶，tf显示map和base footprint在一起，odom在往后行驶,下面是使用的lua参数，

include "trajectory_builder.lua" options = { map_builder = MAP_BUILDER, trajectory_builder = TRAJECTORY_BUILDER, map_frame = "map", tracking_frame = "base_link", -- base_link改为odom,发布map到odom之间的位姿态 published_frame = "odom", odom_frame = "odom", -- true改为false，不用提供里程计数据 provide_odom_frame = false, -- false改为true，仅发布2D位资 publish_frame_projected_to_2d = true, -- false改为true，使用里程计数据 use_odometry = true, use_pose_extrapolator = false, use_nav_sat = false, use_landmarks = false, -- 0改为1,使用一个雷达 num_laser_scans = 1, -- 1改为0，不使用多波雷达 num_multi_echo_laser_scans = 0, -- 10改为1，1/1=1等于不分割 num_subdivisions_per_laser_scan = 1, num_point_clouds = 0, lookup_transform_timeout_sec = 0.2, submap_publish_period_sec = 0.3, pose_publish_period_sec = 5e-3, trajectory_publish_period_sec = 30e-3, rangefinder_sampling_ratio = 1., odometry_sampling_ratio = 1., fixed_frame_pose_sampling_ratio = 1., imu_sampling_ratio = 1., landmarks_sampling_ratio = 1., publish_tracked_pose = false, } -- false改为true，启动2D SLAM MAP_BUILDER.use_trajectory_builder_2d = true TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution =0.02 -- 0改成0.10,比机器人半径小的都忽略 TRAJECTORY_BUILDER_2D.min_range = 0.3 -- 30改成3.5,限制在雷达最大扫描范围内，越小一般越精确些 TRAJECTORY_BUILDER_2D.max_range = 30 --3.5 -- 5改成3,传感器数据超出有效范围最大值 TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3. -- true改成false,不使用IMU数据，大家可以开启，然后对比下效果 TRAJECTORY_BUILDER_2D.use_imu_data = false -- false改成true,使用实时回环检测来进行前端的扫描匹配 TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true -- 1.0改成0.1,提高对运动的敏感度 TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1) -- 0.55改成0.65,Fast csm的最低分数，高于此分数才进行优化。 POSE_GRAPH.constraint_builder.min_score = 0.65 --0.6改成0.7,全局定位最小分数，低于此分数则认为目前全局定位不准确 POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7 -- 设置0可关闭全局SLAM -- POSE_GRAPH.optimize_every_n_nodes = 0 return options

Cmake命令执行：
lei-wang@lei-wang-VMware-Virtual-Platform:~/robot1$ cmake .
-- Found rclcpp: 28.1.8 (/opt/ros/jazzy/share/rclcpp/cmake)
-- Found rosidl_generator_c: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_c/cmake)
-- Found rosidl_generator_cpp: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rmw_implementation_cmake: 7.3.2 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake)
-- Found rmw_fastrtps_cpp: 8.4.2 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- /opt/ros/jazzy/include/rclcpp/opt/ros/jazzy/include/builtin_interfaces/opt/ros/jazzy/include/libstatistics_collector/opt/ros/jazzy/include/rcl/opt/ros/jazzy/include/rcl_interfaces/opt/ros/jazzy/include/rcl_yaml_param_parser/opt/ros/jazzy/include/rcpputils/opt/ros/jazzy/include/rcutils/opt/ros/jazzy/include/rmw/opt/ros/jazzy/include/rosgraph_msgs/opt/ros/jazzy/include/rosidl_dynamic_typesupport/opt/ros/jazzy/include/rosidl_runtime_c/opt/ros/jazzy/include/rosidl_runtime_cpp/opt/ros/jazzy/include/rosidl_typesupport_cpp/opt/ros/jazzy/include/statistics_msgs/opt/ros/jazzy/include/tracetools

-- Configuring done (0.5s)
-- Generating done (0.0s)
-- Build files have been written to: /home/lei-wang/robot1

make命令执行：
lei-wang@lei-wang-VMware-Virtual-Platform:~/robot1$ make
[ 50%] Building CXX object CMakeFiles/ros2_cpp_node.dir/ros2_cpp_node.cpp.o
In file included from /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/list_parameters.hpp:7,
from /opt/ros/jazzy/include/rclcpp/rclcpp/copy_all_parameter_values.hpp:21,
from /opt/ros/jazzy/include/rclcpp/rclcpp/rclcpp.hpp:171,
from /home/lei-wang/robot1/ros2_cpp_node.cpp:2:
/opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/list_parameters__struct.hpp:267:10: fatal error: service_msgs/msg/detail/service_event_info__struct.hpp: No such file or directory
267 | #include "service_msgs/msg/detail/service_event_info__struct.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/ros2_cpp_node.dir/build.make:76: CMakeFiles/ros2_cpp_node.dir/ros2_cpp_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:85: CMakeFiles/ros2_cpp_node.dir/all] Error 2
make: *** [Makefile:101: all] Error 2

这是CmakeLISTS文件内容

cmake_minimum_required(VERSION 3.8)
project(ros2_cpp)
add_executable(ros2_cpp_node ros2_cpp_node.cpp)

find_package(rclcpp REQUIRED)
message(STATUS ${rclcpp_INCLUDE_DIRS})
message(STATUS ${rclcpp_LIBRAIES})

target_include_directories(ros2_cpp_node PUBLIC ${rclcpp_INCLUDE_DIRS})
target_link_libraries(ros2_cpp_node ${rclcpp_LIBRAIES})

734d89c5-fd99-4a3e-86b8-026d0862c6a6-image.png

4e725eb4-db98-4fd6-bb3b-a590e23ffcf2-image.png
瘫倒状态如上图。
虚拟机ubutun18.04

1.由ur5官方提供的stp包构建好了urdf功能包，并添加了transsion和gazebo的一些代码，urdf文件内容见如下代码1。 2.根据此urdf文件构建了moveit_config功能包，controller.yaml和launch文件也均已修改，具体内容见如下代码2、代码3 3.启动该功能包下的demo_gazebo.launch文件后，机械臂处于如图中的瘫痪状态。终端反馈信息见信息4。 注：

1.link5打错成了limk5，影响不大。
2.问题应该是出在urdf文件当中，我用已有的别人的urdf文件进行后续配置可以实现联合仿真
3.字数超限制了，部分代码放在评论区中

代码1：urdf文件：

<robot
name="ur5">

<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="base"/>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
degrees)
-->
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="1.42583680716296E-05 0.0563056334949455 -0.0382829688559687"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0.00983750560931009"
ixy="-1.72050295815961E-08"
ixz="-3.83638429985162E-07"
iyy="0.00957723573222082"
iyz="-0.00134940422444298"
izz="0.000260297506066691" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link1">
<inertial>
<origin
xyz="-4.4675E-07 0.00011808 0.010911"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.1625"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="link1" />
<axis
xyz="0 1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="-1.4509E-06 0.21249 7.775E-05"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0 0 0.1378"
rpy="0 0 0" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="link3">
<inertial>
<origin
xyz="-8.4001E-07 0.16893 -0.12451"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link3.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="0 0.425 0"
rpy="0 0 0" />
<parent
link="link2" />
<child
link="link3" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="link4">
<inertial>
<origin
xyz="7.4437E-06 -0.0025477 0.11499"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="1.4253E-06"
ixy="1.9401E-10"
ixz="7.4526E-11"
iyy="1.8328E-07"
iyz="-4.7712E-07"
izz="1.2421E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link4.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0 0.3922 -0.1378"
rpy="0 0 0" />
<parent
link="link3" />
<child
link="link4" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="limk5">
<inertial>
<origin
xyz="-9.43610718074842E-06 0.0921878890416958 -0.00395720124610782"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/limk5.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/limk5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="0 0 0.1333"
rpy="0 0 0" />
<parent
link="link4" />
<child
link="limk5" />
<axis
xyz="0 1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="link6">
<inertial>
<origin
xyz="9.99267270212568E-09 -6.06182086970719E-07 0.0253985025583878"
rpy="0 0 0" />
<mass
value="0.00001" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link6.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ur5/meshes/link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0 0.0997 0.0457"
rpy="0 0 0" />
<parent
link="limk5" />
<child
link="link6" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<!--add transmission for every joint-->
<transmission name="trans_joint1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint1_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint2_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint3_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint4_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint5_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint6_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- add one gazebo plugin-->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>

代码2：yaml文件

#Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
joint_model_group: arm
joint_model_group_pose: init_pos
#Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
#Settings for ros_control hardware interface
hardware_interface:
joints:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6
sim_control_mode: 1 # 0: position, 1: velocity
#Publish all joint states
#Creates the /joint_states topic necessary in ROS
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
controller_list:

name: arm_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints: joint1 joint2 joint3 joint4 joint5 joint6
arm_controller:
type: position_controllers/JointTrajectoryController
joints: joint1 joint2 joint3 joint4 joint5 joint6
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
joint1: {
trajectory: 0.1, goal: 0.1}
joint2 : {
trajectory: 0.1, goal: 0.1}
joint3: {
trajectory: 0.1, goal: 0.1}
joint4: {
trajectory: 0.1, goal: 0.1}
joint5: {
trajectory: 0.1, goal: 0.1}
joint6: {
trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 25
action_monitor_rate: 1 代码3：controller launch文件：

<?xml version="1.0"?>
<launch>

<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find ur5_moveit_config)/config/ros_controllers.yaml" command="load"/>

<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="spawn joint_state_controller arm_controller"/>

</launch>

运行rviz显示如下所示：
39733d4b-4ac0-429d-bb0d-f38a6cfe2134-c84d8eac439a9e40664e9803ca82360.png
求大佬指点，很急！

这是终端报错：一直说什么没有定义
截图 2025-04-18 13-39-10.png
这是yaml文件
截图 2025-04-21 11-35-39.png
这是机器人中使用ros2_control定义的joint

<ros2_control name="base_system" type="system"> <hardware> <plugin>gazebo_ros2_control/GazeboSystem</plugin> </hardware> <joint name="base_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> <joint name="left_wheel_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> <joint name="right_wheel_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> <joint name="left_caster_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> <joint name="right_caster_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> </ros2_control> <gazebo> <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type> <parameters>$(find navigation_pose_python)/config/articulated_controllers.yaml</parameters> </plugin> </gazebo>

已经在这里卡了很久了，请问这是什么问题？
我在一个英文网页看到了有人遇到了相同的问题，不过他没有给出解决方法
链接文本
bc7742d4-8fec-4d2c-b593-927ac2d5de38-图片.png

537d6d51-c34b-47dc-bad9-5b2fd327134c-image.png

没有报错，但是窗口显示有问题，这个是什么情况
480faf61-31b1-4e6f-81f8-8a4be2709ec8-image.png

可以建立联接,但micro-ROS init failed反复重启

jimmyx@jimmytse-PC:~/town_ws/chapt9/fishbot_ws$ ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
[1745073745.029776] info | UDPv4AgentLinux.cpp | init | running... | port: 8888
[1745073745.030124] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[1745073745.476669] info | Root.cpp | create_client | create | client_key: 0x2865ED34, session_id: 0x81
[1745073745.477005] info | SessionManager.hpp | establish_session | session established | client_key: 0x2865ED34, address: 192.168.113.101:47138
[1745073745.505339] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x2865ED34, participant_id: 0x000(1)
[1745073749.534511] info | Root.cpp | delete_client | delete | client_key: 0x2865ED34
[1745073749.534573] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x2865ED34, address: 192.168.113.101:47138
[1745073749.534600] info | Root.cpp | create_client | create | client_key: 0x5F96460F, session_id: 0x81
[1745073749.534607] info | SessionManager.hpp | establish_session | session established | client_key: 0x5F96460F, address: 192.168.113.101:47138
[1745073749.544918] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x5F96460F, participant_id: 0x000(1)
^C[ros2run]: Interrupt

ESP32 串口接收到信息如下： code block

rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1184
load:0x40078000,len:13260
load:0x40080400,len:3028
entry 0x400805e4
OUT:left_speed=0.000000,right_speed=0.000000
micro-ROS init failed
ets Jul 29 2019 12:21:46

rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1184
load:0x40078000,len:13260
load:0x40080400,len:3028
entry 0x400805e4
OUT:left_speed=0.000000,right_speed=0.000000

fishbot上有IMU模块，但是第九章最后的小车代码没有IMU部分，想知道这部分代码如何编写。

frames.png
路径规划报错：[component_container_isolated-1] [ERROR] [1745042787.273346658] [tf_help]: Transform data too old when converting from map to odom
[component_container_isolated-1] [ERROR] [1745042787.273400807] [tf_help]: Data time: 1745042787s 246927386ns, Transform time: 270s 532000000ns
rqt显示静态TF有大问题，同时
使用ros2 run tf2_ros tf2_echo base_link B_caster_link
显示
At time 0.0

Translation: [-0.300, 0.000, -0.147] Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] Rotation: in RPY (radian) [0.000, -0.000, 0.000] Rotation: in RPY (degree) [0.000, -0.000, 0.000] Matrix:
1.000 0.000 0.000 -0.300
0.000 1.000 0.000 0.000
0.000 0.000 1.000 -0.147
0.000 0.000 0.000 1.000
时间为0.0
该怎么处理？？卡住好几天了

9.0.6启动雷达服务前的配置工作：
（1）小车ip地址：192.168.123.193
（2）服务器ip地址：192.168.123.101(已经使用ifconfig检查，该虚拟机上查了一个网卡，网卡地址为192.168.123.101)
（3）服务器port：8889
（4）跳线帽连接无误，如图：a8b022ef-1ef8-49df-aad9-b65967b6d4bf-二驱小车雷达板.jpg
启动docker:
（1）xhost + && sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=unix$DISPLAY -p 8889:8888 registry.cn-hangzhou.aliyuncs.com/fishros/fishbot_laser
（2）输入2，显示如图：
039faafa-702b-4625-a8bd-c525b504498d-1744967742299.png
一直无雷达话题啊，雷达板内容显示如下：
173d5fdd-3f0a-48d3-8f86-d12697a5ad7d-启动服务后雷达板.jpg

检测到程序发生异常退出，请打开：https://fishros.org.cn/forum 携带如下内容进行反馈

标题：使用一键安装过程中遇到程序崩溃

Traceback (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'

本次运行详细日志文件已保存至 /tmp/fishros_install.log