根据您的系统，为您推荐安装源为['http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/', 'http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/']
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[/][0.60s] 错误:5 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic InReleas[|][0.63s] 获取:6 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic InRelea[-][0.68s] 获取:6 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic InRelea[-][0.70s] 获取:6 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic InRelea[-][0.80s] 获取:6 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic InRelea[-][0.90s] 获取:6 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic InRelea[-][1.00s] 获取:6 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic InRelea[-][1.10s] 获取:6 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic InRelea[-][1.20s] 获取:6 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic InRelea[-][1.30s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][1.35s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][1.40s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][1.50s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][1.60s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][1.70s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][1.80s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][1.90s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][2.00s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][2.10s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][2.20s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][2.30s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][2.40s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][2.50s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][2.60s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][2.70s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][2.81s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][2.91s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[/][3.01s] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main am[-][3.21s] CMD Result:code:100

apt更新失败,后续程序可能会继续尝试...,[]
Run CMD Task:[sudo apt search ros-base ]
[][0.49s] A package which extends 'ros_core' and includes other basic functio[-][0.49s] A package which extends 'ros_core' and includes other basic functio[][0.49s] A package which extends 'ros_core' and includes other basic functio[-][0.49s] A package which extends 'ros_core' and includes other basic functio[/][0.49s] ros-melodic-ros-base/now 1.4.1-0bionic.20230215.205719 amd64 [已安装[][0.49s] A metapackage which extends ros_core and includes other basic non-r[-][0.49s] CMD Result:success
后续在下载rosdepc时无法下载多次换源依旧无效
[sudo] yux 的密码：
正在读取软件包列表... 完成
正在分析软件包的依赖关系树
正在读取状态信息... 完成
E: 无法定位软件包 ros-melodic-jsk-rviz-plugins

python功能包节点运行ros2 run demo_python_dpkg python_node时找不到名为“demo_python_pkg.python_node”的module

dw@dw:~/codes/chapt2$ ros2 run demo_python_pkg python_node
Traceback (most recent call last):
File "/home/dw/codes/chapt2/install/demo_python_pkg/lib/demo_python_pkg/python_node", line 33, in <module>
sys.exit(load_entry_point('demo-python-pkg==0.0.0', 'console_scripts', 'python_node')())
File "/home/dw/codes/chapt2/install/demo_python_pkg/lib/demo_python_pkg/python_node", line 25, in importlib_load_entry_point
return next(matches).load()
File "/usr/lib/python3.10/importlib/metadata/init.py", line 171, in load
module = import_module(match.group('module'))
File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1004, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'demo_python_pkg.python_node'
[ros2run]: Process exited with failure 1

这种情况该如何解决

屏幕截图 2025-04-22 201806.png朋友下载了个这个pip3 install face_recognition -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple 成功了但是我还是有错误

gazebo中无法加载模型如何解决
报错显示:ValueError: Unicode strings with encoding declaration are not supported. Please use bytes input or XML fragments without declaration.
可能是spawn_entity节点的问题。请问如何解决，谢谢！
代码如下
spawn_entity_node = launch_ros.actions.Node(
package='gazebo_ros',
executable='spawn_entity.py',
arguments=['-topic', '/robot_description','-entity', robot_name_in_model ],
output="screen",
)

fbea55a6-4ba9-4853-a501-dce4f5d02ae3-image.png tf是这个样子，但是没有找到map到odom的，然后我使用topic,发现是存在/map的，如下所示，7324ec0e-5d5f-47ac-941b-a2025e51c666-image.png 然后我使用ros2 topic echo /map
然后卡在这里就不动了，鱼哥，这个应该怎么解决呢？

fishbot板子可以烧录程序，烧录程序后用Agent和ROS2连接时一直显示无法找到串口，这个要怎么解决啊？!

ros仿真 ur5+夹爪

6053ab2c-0828-4f2f-9a0a-fd785c6fa785-image.png
仿真是用的官方的ur5-1.2.7版本的模型包，我在加入robotiq_85夹爪后，启动rviz，在motoinplanning插件中拖动轨迹球，轨迹可以规划，但执行失败，提示图片中的的警告。我看本社区这个人的帖子他的解决办法是控制调调参，但我总也调不好，【https://fishros.org.cn/forum/topic/528/机械臂rviz-gazebo联合仿真报错】 所以我不知道是不是真的是因为参数导致轨迹无法执行的问题。或者有没有人调过参数，分享一下。这个问题我已经卡在这里很久了

回复: [FishBot教程] 9.0.3. 主控板固件烧录与配置 我对esp32并不熟悉，但是我按照教程用串口助手给esp32刷入了固件，我也不太清楚这些固件是什么，那么此时我是否必须还要去修改esp32的代码，使其能使用microROS。我照着快速上手的视频操作过，功能都是正常的。那么接下来，我只需要在电脑上编写ROS2的代码就行了吗@小鱼

3744c805-3601-48d9-9217-8e01e5db6589-图片.png
如图，kuka的机械臂，可以在gazebo中正常打开，但移动下方的方块砸机械臂，它一点而都不动，也尝试过直接给机械臂施加力和力矩，机械臂也不动，下面粘贴urdf部分urdf文件，

<link name="base_link"> <inertial> <origin xyz="-0.027804 0.00039112 0.14035" rpy="0.0 0.0 0.0" /> <mass value="1572.9"/> <inertia ixx="89.282" ixy="-0.47721" ixz="0.85562" iyy="107.51" iyz="0.0067576" izz="172.02"/> </inertial> <visual> <origin xyz="0.0 0.0 0.0" rpy="-1.57 0.0 0.0"/> <geometry> <mesh filename="file://$(find mybot1_description)/meshes/visual/base_link.dae" scale="1.0 1.0 1.0"/> </geometry> <material name=""> <color rgba="0.75294 0.75294 0.75294 1"/> </material> </visual> <collision> <origin xyz="0.0 0.0 0.0" rpy="-1.57 0.0 0.0"/> <geometry> <mesh filename="file://$(find mybot1_description)/meshes/collision/base_link.stl" scale="1.0 1.0 1.0"/> </geometry> </collision> </link> <link name="link_1"> <inertial> <origin xyz="-0.036811 -0.024697 0.56577" rpy="0.0 0.0 0.0"/> <mass value="1385.5"/> <inertia ixx="90.873" ixy="33.809" ixz="17.159" iyy="147.03" iyz="0.063634" izz="168.19"/> </inertial> <visual> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> <geometry> <mesh filename="file://$(find mybot1_description)/meshes/visual/link_1.dae" scale="1.0 1.0 1.0"/> </geometry> <material name=""> <color rgba="0.75294 0.75294 0.75294 1"/> </material> </visual> <collision> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> <geometry> <mesh filename="file://$(find mybot1_description)/meshes/collision/link_1.stl" scale="1.0 1.0 1.0"/> </geometry> </collision> </link> <joint name="joint_1" type="revolute"> <origin xyz="-0.00262 0.00097586 0.33099" rpy="0.0 0.0 0.0"/> <parent link="base_link"/> <child link="link_1"/> <axis xyz="0.0 0.0 1.0"/> <dynamics damping="0.1" friction="0.1"/> <limit lower="-3.228859205" upper="3.228859205" effort="1000.0" velocity="2.146755039"/> </joint>

还有部分xacro文件内容
```
<gazebo reference="link_1">
<material>Gazebo/Orange</material>
<self_collide>false</self_collide>
<gravity>true</gravity>
</gazebo>
<gazebo>
<is_static>false</is_static>
<self_collide>true</self_collide>
</gazebo>
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="joint_1">
<command_interface name="position"/>
<command_interface name="effort"/>
<!-- <command_interface name="velocity"/> -->
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

请问我在gazebo.launch文件中修改了一个机器人模型，但是命名空间是不起作用还是咋了
一直停留在[robot3.spawn_entity]：Waiting for entity xml on robot1/robot_description不显示机器人模型
具体launch修改代码如下：
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
import os
import launch_ros.parameter_descriptions
import launch.launch_description_sources
def generate_launch_description():
# 获取功能包的share路径
urdf_package_path = get_package_share_directory('fishbot_description')
default_xacro_path = os.path.join(urdf_package_path, 'urdf', 'fishbot', 'fishbot.urdf.xacro')
default_gazebo_world_path = os.path.join(urdf_package_path, 'world', 'custom_room.world')

# 声明一个urdf目录参数，方便修改 action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument( name='model', default_value=str(default_xacro_path), description='加载的模型文件路径' ) # 处理三个机器人的URDF robot1_desc = launch.substitutions.Command(['xacro ', default_xacro_path, ' prefix:=robot1/']) robot2_desc = launch.substitutions.Command(['xacro ', default_xacro_path, ' prefix:=robot2/']) robot3_desc = launch.substitutions.Command(['xacro ', default_xacro_path, ' prefix:=robot3/']) # 第一个机器人状态发布器 robot1_state_publisher = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', namespace='robot1', parameters=[{ 'robot_description': launch_ros.parameter_descriptions.ParameterValue(robot1_desc, value_type=str), 'frame_prefix': 'robot1/' }], ) # 第二个机器人状态发布器 robot2_state_publisher = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', namespace='robot2', parameters=[{ 'robot_description': launch_ros.parameter_descriptions.ParameterValue(robot2_desc, value_type=str), 'frame_prefix': 'robot2/' }], ) # 第三个机器人状态发布器 robot3_state_publisher = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', namespace='robot3', parameters=[{ 'robot_description': launch_ros.parameter_descriptions.ParameterValue(robot3_desc, value_type=str), 'frame_prefix': 'robot3/' }], ) # 启动 Gazebo 仿真环境 action_launch_gazebo = launch.actions.IncludeLaunchDescription( launch.launch_description_sources.PythonLaunchDescriptionSource( os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py') ), launch_arguments=[('world', default_gazebo_world_path), ('verbose', 'true')] ) # 将机器人1加载到 Gazebo action_spawn_robot1 = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', namespace='robot1', arguments=[ '-topic', 'robot1/robot_description', '-entity', 'robot1', '-x', '0.4', '-y', '0', '-z', '0' ], output='screen' ) # 将机器人2加载到 Gazebo action_spawn_robot2 = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', namespace='robot2', arguments=[ '-topic', 'robot2/robot_description', '-entity', 'robot2', '-x', '-0.4', '-y', '0', '-z', '0' ], output='screen' ) # 将机器人3加载到 Gazebo action_spawn_robot3 = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', namespace='robot3', arguments=[ '-topic', 'robot3/robot_description', '-entity', 'robot3', '-x', '0', '-y', '0', '-z', '0' ], output='screen' ) return launch.LaunchDescription([ action_declare_arg_mode_path, robot1_state_publisher, robot2_state_publisher, robot3_state_publisher, action_launch_gazebo, action_spawn_robot1, action_spawn_robot2, action_spawn_robot3 ])

rk3588s的板子，系统是ubuntu22.04
使用一键安装ros2 humble 桌面版后，重启系统就会到这个登陆界面fad84da0fbb5efd99d8da6afed90d61f.jpg
但是输入密码后会黑屏然后又跳回这个界面。
这是什么情况呀

2.2节用cmake编译c++时，提示python解释器没找到，我已经卸载anaconda3了，请问这个怎么解决？716b4577-a625-4f5e-a666-6333ffe7268e.png

我C++创建节点是可以正常启动节点的

python启动节点后,正常应该是 等待状态，目前我的是直接没反映，查看节点信息也没有
可能是哪个python库没安装吗，求大佬指教

（教程示例）源代码：
import rclpy
from rclpy.node import Node

def main():
rclpy.init()
node = Node("python_node")
rclpy.spin(node)
rclpy.shutdowm()

if __name__== "__main__": main()

终端启动命令：
wl@wl-VirtualBox:~/chapt1$ python3 ros2_python_node.py
wl@wl-VirtualBox:~/chapt1$ （这里直接跳出，未启动节点）

08ae98961b08e58e1f63051e5ac444b.jpg这个是怎么回事。。。

294fdc2a-5311-4364-81ab-db620fe88f2d-1745367853576.png
1、执行gazebo_sim.launch.py的时候上图问题
（1）libgazebo_ros2_control.so找不到
（2）load_controller无法连接到
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
（补充：用gitee上的代码也是这个效果！）

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？