按照小鱼的b站视频课，树莓派五上装了ubuntu24.04和ROS2，环境变量里找不到ROS_LOCALHOST_ONLY，我装的ROS版本是jazzy，求解

想问问论坛里的各位大佬，最近在参加一个全国大学生光电设计竞赛，做一个车，有激光雷达，云台和摄像头，上位打算用树莓派做处理，下面用stm32做电机的控制，雷达那边可能需要用到ROS，本来打算用ROS1，但是目前的树莓派5和ubuntu24只支持ROS2，现在树莓派5上安装了ubunt24.04，并且安装了ROS2的Jazzy，本人以前都是在做MCU的开发，最近被安排做这一部分，希望高手指点一下学习路径和需要具备的能力。
目前只需要激光雷达捕捉到对方车的位置，树莓派完成数据处理，再传给下面的stm32和上面的云台就行

同一个ROS2包，改了启动方式就不行了

--2025-06-13 17:11:27-- http://fishros.com/install
正在解析主机 fishros.com (fishros.com)... 47.119.165.169
正在连接 fishros.com (fishros.com)|47.119.165.169|:80... 已连接。
已发出 HTTP 请求，正在等待回应... 301 Moved Permanently
位置：http://fishros.com/install/ [跟随至新的 URL]
--2025-06-13 17:11:27-- http://fishros.com/install/
再次使用存在的到 fishros.com:80 的连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 960 [application/octet-stream]
正在保存至: “fishros”

fishros 100%[=========================>] 960 --.-KB/s 用时 0s

2025-06-13 17:11:27 (461 MB/s) - 已保存 “fishros” [960/960])

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
python3-distro 已经是最新版 (1.4.0-1)。
python3-yaml 已经是最新版 (5.3.1-1ubuntu0.1)。
下列软件包是自动安装的并且现在不需要了：
libreadline5
使用'sudo apt autoremove'来卸载它(它们)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 418 个软件包未被升级。
有 1 个软件包没有被完全安装或卸载。
解压缩后会消耗 0 B 的额外空间。
正在设置 mercurial (5.3.1-1ubuntu1) ...
dpkg: 处理软件包 mercurial (--configure)时出错：
已安装 mercurial 软件包 post-installation 脚本 子进程返回错误状态 10
在处理时有错误发生：
mercurial
E: Sub-process /usr/bin/dpkg returned an error code (1)
--2025-06-13 17:11:30-- http://mirror.fishros.com/install/tools/base.py
正在解析主机 mirror.fishros.com (mirror.fishros.com)... 47.119.165.169
正在连接 mirror.fishros.com (mirror.fishros.com)|47.119.165.169|:80... 已连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 51464 (50K) [application/octet-stream]
正在保存至: “/tmp/fishinstall//tools/base.py”

/tmp/fishinstall//too 100%[=========================>] 50.26K --.-KB/s 用时 0.05s

2025-06-13 17:11:30 (942 KB/s) - 已保存 “/tmp/fishinstall//tools/base.py” [51464/51464])

WARN:No Yaml Module!

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 60, in main from tools.base import CmdTask,FileUtils,PrintUtils,ChooseTask,ChooseWithCategoriesTask,Tracking File "/tmp/fishinstall/tools/base.py", line 782, in <module> osversion = GetOsVersion() File "/tmp/fishinstall/tools/base.py", line 112, in GetOsVersion import distro ModuleNotFoundError: No module named 'distro'

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

一键安装失败.png

所使用的是ROS2的humble版本，所导出的stl文件已能在rviz中显示，但无法在gazebo中显示，通过rqt的/spawn_entity进行导入，导入失败，有什么方法能导入stl文件吗截图 2025-06-13 11-33-10.png

使用功能包组织节点的时候报错importlib.metadata.PackageNotFoundError: No package metadata was found for demo-python

2abc69d3-6381-4294-a455-7ff2ffe72f7a-cgi-bin_mmwebwx-bin_webwxgetmsgimg_&MsgID=6020533323437039721&skey=@crypt_bda23372_a510d05b18137bce4d65462e65415d5f&mmweb_appid=wx_webfilehelper.jpg
请求帮助

使用python编写launch文件来启动节点，构建成功后运行报错。
launch文件如下：
d1f38065-6fe6-412d-b4c8-0dab69748313-image.png
添加拷贝代码如下：
7242bf4d-9327-47f6-be35-4f3ce6f1980d-image.png
launch文件已成功拷贝到install中的对应位置
报错日志如下：
dd15b351-f4fc-4caa-a49f-198155b40785-image.png
6d4306c9-47e9-414c-92bc-fe6a9067a7c7-image.png
求大神帮助，万分感谢！

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 1476, in run_tool_file if tool.run()==False: return False ^^^^^^^^^^ File "/tmp/fishinstall/tools/tool_install_ros_with_docker.py", line 254, in run self.install_ros_with_docker() File "/tmp/fishinstall/tools/tool_install_ros_with_docker.py", line 243, in install_ros_with_docker self.generte_command(container_name,rosname) File "/tmp/fishinstall/tools/tool_install_ros_with_docker.py", line 214, in generte_command FileUtils.new(bin_path,container_name,self.get_container_scripts(container_name,rosversion,bin_path+container_name)) File "/tmp/fishinstall/tools/base.py", line 1220, in new with open(path+name,"w") as f: ^^^^^^^^^^^^^^^^^^^ FileNotFoundError: [Errno 2] No such file or directory: '/home/ubuntu/.fishros/bin/97'

ROS版本

humble

问题描述

我用colcon build编译了一个功能包，怎么能把这个功能包直接移植到其他电脑上。肯定是有各种依赖库问题，但是这块正常来说应该怎么做？完全不了解，可否请各位老师指点一下。

标题：PersonNode.init() missing 1 required positional argument: 'age' 提问模板：说缺少参数，但是感觉没有缺少

Traceback (most recent call last):
File "/home/ros/chapt2_3/chapt2_3_ws/install/demo_python_pkg/lib/demo_python_pkg/writer_node", line 33, in <module>
sys.exit(load_entry_point('demo-python-pkg==0.0.0', 'console_scripts', 'writer_node')())
File "/home/ros/chapt2_3/chapt2_3_ws/install/demo_python_pkg/lib/python3.10/site-packages/demo_python_pkg/writer_node.py", line 10, in main
node = WriterNode('法外狂徒张三', 18, '论快速入狱')
File "/home/ros/chapt2_3/chapt2_3_ws/install/demo_python_pkg/lib/python3.10/site-packages/demo_python_pkg/writer_node.py", line 5, in init
super().init(name, age)
TypeError: PersonNode.init() missing 1 required positional argument: 'age'

背景(可选)：

[在这里描述你要实现什么，也许有更好的方案]

问题描述：colcon build;

ros@ros-VirtualBox:~/chapt2_3/chapt2_3_ws$ source install/setup.bash
ros@ros-VirtualBox:~/chapt2_3/chapt2_3_ws$ ros2 run demo_python_pkg writer_node

Traceback (most recent call last):
File "/home/ros/chapt2_3/chapt2_3_ws/install/demo_python_pkg/lib/demo_python_pkg/writer_node", line 33, in <module>
sys.exit(load_entry_point('demo-python-pkg==0.0.0', 'console_scripts', 'writer_node')())
File "/home/ros/chapt2_3/chapt2_3_ws/install/demo_python_pkg/lib/python3.10/site-packages/demo_python_pkg/writer_node.py", line 10, in main
node = WriterNode('法外狂徒张三', 18, '论快速入狱')
File "/home/ros/chapt2_3/chapt2_3_ws/install/demo_python_pkg/lib/python3.10/site-packages/demo_python_pkg/writer_node.py", line 5, in init
super().init(name, age)
TypeError: PersonNode.init() missing 1 required positional argument: 'age'

具体细节和上下文：

person.py代码
import rclpy
from rclpy.node import Node

class PersonNode(Node):
def init(self, node_name: str, name: str, age: int) -> None:
super().init(node_name)
self.age = age
self.name = name

def eat(self, food_name: str): self.get_logger().info(f'我叫{self.name},今年{self.age}岁，我现在正在吃{food_name}')

def main():
rclpy.init()
node = PersonNode('person_node', '法外狂徒张三', '18')
node.eat('鱼香肉丝')
rclpy.spin(node)
rclpy.shutdown()

writer_node.py代码
from demo_python_pkg.person_node import PersonNode

class WriterNode(PersonNode):
def init(self, name: str, age: int, book: str) -> None:
super().init(name, age)
print('WriterNode 的 init 函数被调用了')
self.book = book

def main():
node = WriterNode('法外狂徒张三', 18, '论快速入狱')
node.eat('鱼香肉丝')

setup.py
entry_points={
'console_scripts': [
'python_node = demo_python_pkg.python_node:main',
'person_node = demo_python_pkg.person_node:main',
'writer_node = demo_python_pkg.writer_node:main',
],
},
目录展示
2ac34ae9-5fa0-4be8-aab0-07052c7e7894-image.png
f78ae182-8f7e-4157-a970-153b31c8345a-image.png

972882a2-04b7-4715-96ee-5237cf76bc17-image.png

尝试过的解决方法：

问了deepseek，按照他的修改，但是显示新的错误，进行修改，继续报错

设置了超声波层，在实际使用的时候，不能及时更新，还会在车体附件生成障碍物
f5caaaac-8b7f-467e-9aed-2b5b0439281b-image.png
9b736012-9d0e-49ea-aad3-f3f6c4ef9d8b-image.png
我使用的参数如下：

global_costmap: global_costmap: ros__parameters: update_frequency: 1.0 publish_frequency: 1.0 global_frame: map robot_base_frame: base_link use_sim_time: True #robot_radius: 0.22 footprint: "[ [0.35, 0.31], [0.35, -0.31], [-0.35, -0.31], [-0.35, 0.31] ]" #"[ [0.35, 0.30], [0.35, -0.30], [-0.35, -0.30], [-0.35, 0.30] ]" resolution: 0.05 footprint_padding: 0.032 #0.052 track_unknown_space: true plugins: ["static_layer", "obstacle_layer","range_sensor_layer", "inflation_layer"] obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True footprint_clearing_enabled: true observation_sources: scan scan_front scan: topic: /laser_back_scan max_obstacle_height: 2.0 clearing: True marking: True inf_is_valid: True data_type: "LaserScan" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 scan_front: topic: /laser_front_scan max_obstacle_height: 2.0 clearing: True marking: True inf_is_valid: True data_type: "LaserScan" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.55 range_sensor_layer: plugin: "nav2_costmap_2d::RangeSensorLayer" enabled: True topics: ["/range"] phi: 1.2 inflate_cone: 15.0 no_readings_timeout: 0.0 clear_threshold: 0.2 mark_threshold: 0.8 clear_on_max_reading: True input_sensor_type: ALL always_send_full_costmap: True```

ros2的地图问题 目的

我想让地图干净一点，让机器人跑起来顺畅，不出现卡顿的情况

问题描述：

7545f038bafdbdd405f78b2f5b1563db.png
机器人在到达该点后，旁边的点就会有墙占住，但是在原点就不会出现这个情况，还有到了其他点附近，点里面又正常了

sudo apt-get install ros-humble-ros-numpy
正在读取软件包列表... 完成
正在分析软件包的依赖关系树... 完成
正在读取状态信息... 完成
E: 无法定位软件包 ros-humble-ros-numpy
出现这个问题 不知道如何解决
😠

使用ros2_control控制铰接车运动，最后想导入navigation2框架里面，无法建立连接
截图 2025-06-11 14-24-09.png
截图 2025-06-11 14-19-07.png
截图 2025-06-11 14-21-49.png

556e69cf-55af-4475-9670-3971e778825c-ec42787c8738f70cd8be06b7f1b91c94.jpg
老师，这里路径错误怎么解决，然后我问下执行相关程序的步骤是什么，我colcon build构建他说没有找到相关指令

各位大佬，ros2-humble中如何添加libgazebo_ros_range插件，以仿真超声测距数据。apt安装的插件里没有这个插件，插件源码里ros2版本也没有这个插件的源码。

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

ros2 humble
按照历程一路走下来。完成slam建图部分。
终端输入

sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host registry.cn-hangzhou.aliyuncs.com/fishros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6 xhost + && sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=unix$DISPLAY -p 8889:8888 registry.cn-hangzhou.aliyuncs.com/fishros/fishbot_laser 并输入2 ros2 launch fishbot_bringup bringup_quick.launch.py 终端 [INFO] [launch]: All log files can be found below /home/na/.ros/log/2025-06-10-15-02-51-296954-na-MS-7E06-7557 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [joint_state_publisher-1]: process started with pid [7559] [INFO] [robot_state_publisher-2]: process started with pid [7561] [INFO] [odom2tf-3]: process started with pid [7563] [robot_state_publisher-2] [INFO] [1749538971.328847294] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-2] [INFO] [1749538971.328884145] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1749538971.328887603] [robot_state_publisher]: got segment laser_frame [robot_state_publisher-2] [INFO] [1749538971.328889545] [robot_state_publisher]: got segment laser_link [joint_state_publisher-1] [INFO] [1749538971.499097429] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic.. ros2 launch fishbot_navigation2 navigation2.launch.py use_sim_time:=False [rviz2-2] [INFO] [1749539212.330728211] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1749539211.002 for reason 'discarding message because the queue is full' [component_container_isolated-1] [ERROR] [1749539212.383896213] [amcl]: Couldn't determine robot's pose associated with laser scan [component_container_isolated-1] [INFO] [1749539212.425496953] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1749539211.425 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-2] [INFO] [1749539212.458733427] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1749539211.137 for reason 'discarding message because the queue is full' [component_container_isolated-1] [ERROR] [1749539212.483951142] [amcl]: Couldn't determine robot's pose associated with laser scan [rviz2-2] [INFO] [1749539212.587613777] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1749539211.269 for reason 'discarding message because the queue is full' [rviz2-2] [INFO] [1749539212.714475523] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1749539211.425 for reason 'discarding message because the queue is full' [component_container_isolated-1] [ERROR] [1749539212.721051012] [amcl]: Couldn't determine robot's pose associated with laser scan [component_container_isolated-1] [ERROR] [1749539212.789669634] [amcl]: Couldn't determine robot's pose associated with laser scan [component_container_isolated-1] [INFO] [1749539212.794826307] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1749539211.794 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-2] [INFO] [1749539212.843397385] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1749539211.529 for reason 'discarding message because the queue is full' [component_container_isolated-1] [ERROR] [1749539212.894320763] [amcl]: Couldn't determine robot's pose associated with laser scan [rviz2-2] [INFO] [1749539213.002136992] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1749539211.660 for reason 'discarding message because the queue is full' [component_container_isolated-1] [INFO] [1749539213.188680490] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1749539212.188 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [component_container_isolated-1] [INFO] [1749539213.974569535] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1749539212.974 for reason 'the timestamp on the message is earlier than all the data in the transform cache' ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [component_container_isolated-1] [INFO] [1749539250.073439639] [rclcpp]: signal_handler(signum=2)

在rviz2中用鼠标2D pose estimation无法出现扫描，代价地图等信息。
求鱼哥帮帮忙

标题：ros2 run demo_python_pkg human_node出错

Traceback (most recent call last):
File "/home/ros/chapt2_2/chapt2_2_ws/install/demo_python_pkg/lib/demo_python_pkg/human_node", line 33, in <module>
sys.exit(load_entry_point('demo-python-pkg==0.0.0', 'console_scripts', 'human_node')())
File "/home/ros/chapt2_2/chapt2_2_ws/install/demo_python_pkg/lib/demo_python_pkg/human_node", line 25, in importlib_load_entry_point
return next(matches).load()
File "/usr/lib/python3.10/importlib/metadata/init.py", line 173, in load
return functools.reduce(getattr, attrs, module)
AttributeError: module 'demo_python_pkg.human_node' has no attribute 'main'
[ros2run]: Process exited with failure 1

背景(可选)：

打印法外狂徒张三18岁爱吃鱼香肉丝

问题描述：

colcon build 可以看到有可执行文件human_node
dcdabe18-7592-4232-a5c5-50ad79447b09-e7b86163b9b0c47ecaff81602f532b9.png

具体细节和上下文： colcon build
source install/setup.bash
ros2 run demo_python_pkg human_node这一步失败了，好几次；

setup.py的内容
da8477af-1ebf-4338-8e9e-e0334d205139-b9ac2443f48f957d95c95b28b7cb584.png
human_node.py的内容
2f60d867-6466-47c7-b975-c9a7902fc449-f78c2db80d27f6b6ae36568818e1c03.png

尝试过的解决方法：

直接把Traceback (most recent call last):
File "/home/ros/chapt2_2/chapt2_2_ws/install/demo_python_pkg/lib/demo_python_pkg/human_node", line 33, in <module>
sys.exit(load_entry_point('demo-python-pkg==0.0.0', 'console_scripts', 'human_node')())
File "/home/ros/chapt2_2/chapt2_2_ws/install/demo_python_pkg/lib/demo_python_pkg/human_node", line 25, in importlib_load_entry_point
return next(matches).load()
File "/usr/lib/python3.10/importlib/metadata/init.py", line 173, in load
return functools.reduce(getattr, attrs, module)
AttributeError: module 'demo_python_pkg.human_node' has no attribute 'main'
[ros2run]: Process exited with failure 1
复制搜索答案，没看懂