环境是ubuntu20.04 ros2 foxy
我在代码里用sys.path.append导入

import os import sys sys.path.append("/home/sss/anaconda3/envs/yolov5-sort/lib/python3.8/site-packages/") import torch import math

但用colcon build之后还是会报错

[yolov5_tracker_node-1] import torch [yolov5_tracker_node-1] ModuleNotFoundError: No module named 'torch' [ERROR] [yolov5_tracker_node-1]: process has died [pid 24618, exit code 1, cmd

这是我的launch.py

from launch import LaunchDescription from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare from launch.substitutions import PathJoinSubstitution def generate_launch_description(): weights_path = PathJoinSubstitution([ FindPackageShare("yolov5_vehicle_detector"), "weights", "yolov5s.pt" ]) return LaunchDescription([ Node( package="yolov5_vehicle_detector", executable="yolov5_tracker_node", name="yolov5_tracker_node", output="screen", env={'DISPLAY': ':0'}, parameters=[{ "weights": weights_path, "device": "cpu", "imgsz": [640, 640], "conf_thre": 0.5, "iou_thre": 0.5, "camera_source": 0, "visualize": True, }], ) ])

这是我的setup.py

from pathlib import Path from glob import glob from setuptools import setup, find_packages package_name = "yolov5_vehicle_detector" weight_file = Path("src") / "yolov5_vehicle_detector" / "weights" / "yolov5s.pt" data_files = [ ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), (f"share/{package_name}", ["package.xml"]), (f"share/{package_name}/launch", glob("launch/*.launch.py")), (f"share/{package_name}/weights", [str(weight_file)]), ] package_data = {package_name: ["weights/yolov5s.pt"]} setup( name=package_name, version="0.0.0", packages=find_packages(where='src', include=[package_name, f"{package_name}.*"]), package_dir={'': 'src'}, package_data=package_data, data_files=data_files, install_requires=[ "setuptools", "numpy", "pandas", "Pillow", ], zip_safe=True, maintainer="", maintainer_email="", description="ROS2 Node for YOLOv5 Vehicle Detection and Tracking", license="Apache License 2.0", entry_points={ 'console_scripts': [ 'yolov5_tracker_node = yolov5_vehicle_detector.yolov5_tracker_node:main', ], }, )

我构建的命令是

rm -rf build/ install/ log/ colcon build --packages-select yolov5_vehicle_detector_msgs yolov5_vehicle_detector --symlink-install source install/setup.bash ros2 launch yolov5_vehicle_detector tracking.launch.py

版本：Ubuntu22.04
在学习这个帖子的时候e5e18b3a-6fcd-4252-af32-103499f9e597-image.png
由于自己的系统里ros版本是ros noetic不兼容 所以需要安装ros2，输入一件安装代码后，还未选择安装选项，于是崩溃，发现wifi断开，打开网络设置也没有wifi选项，于是重启了，重启之后无法进入系统
在社区一键安装帖子里面没有找到类似情况的，于是来发帖了
由于wifi断开，无法上传代码片段，拍了几张图片，带来不便，非常抱歉😢
微信图片_20250430145247_34.jpg 微信图片_20250430145247_35.jpg 微信图片_20250430145247_36.jpg 微信图片_20250430145247_37.jpg !微信图片_20250430145246_38.jpg 微信图片_20250430145246_39.jpg 微信图片_20250430145246_40.jpg 微信图片_20250430145247_41.jpg 微信图片_20250430145246_42.jpg 微信图片_20250430145246_43.jpg 微信图片_20250430145246_44.jpg 微信图片_20250430145247_45.jpg
ubuntu系统启动时界面如下：（出现这样的问题，只能重装系统了吗
微信图片_20250430145246_46.jpg```

版本：Ubuntu22.04
在学习这个帖子的时候e5e18b3a-6fcd-4252-af32-103499f9e597-image.png
由于自己的系统里ros版本是ros noetic不兼容 所以需要安装ros2，输入一件安装代码后，还未选择安装选项，于是崩溃，发现wifi断开，打开网络设置也没有wifi选项，于是重启了，重启之后无法进入系统
由于wifi断开，无法上传代码片段，拍了几张图片，带来不便，非常抱歉😢
微信图片_20250430145247_34.jpg 微信图片_20250430145247_35.jpg 微信图片_20250430145247_36.jpg 微信图片_20250430145247_37.jpg !微信图片_20250430145246_38.jpg 微信图片_20250430145246_39.jpg 微信图片_20250430145246_40.jpg 微信图片_20250430145247_41.jpg 微信图片_20250430145246_42.jpg 微信图片_20250430145246_43.jpg 微信图片_20250430145246_44.jpg 微信图片_20250430145247_45.jpg
ubuntu系统启动时界面如下：（出现这样的问题，只能重装系统了吗
微信图片_20250430145246_46.jpg```

gzclient-3] [Err] [ModelDatabase.cc:394] Unable to get model name[http://models.gazebosim.org/zephyr_delta_wing]
[gzclient-3] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
[gzclient-3] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [http://models.gazebosim.org/iris_with_standoffs_demo/model.config]. Only locally installed models will be available.
[gzclient-3] [Err] [ModelDatabase.cc:394] Unable to get model name[http://models.gazebosim.org/iris_with_standoffs_demo]
[gzclient-3] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [http://models.gazebosim.org/stereo_camera/model.config]. Only locally installed models will be available.
[gzclient-3] [Err] [ModelDatabase.cc:394] Unable to get model name[http://models.gazebosim.org/stereo_camera]
[gzclient-3] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [http://models.gazebosim.org/wooden_case/model.config]. Only locally installed models will be available.
[gzclient-3] [Err] [ModelDatabase.cc:394] Unable to get model name[http://models.gazebosim.org/wooden_case]
[gzclient-3] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [http://models.gazebosim.org/robocup_spl_ball/model.config]. Only locally installed models will be available.
[gzclient-3] [Err] [ModelDatabase.cc:394] Unable to get model name[http://models.gazebosim.org/robocup_spl_ball]
[gzclient-3] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [http://models.gazebosim.org/drc_practice_door_4x8/model.config]. Only locally installed models will be available.
[gzclient-3] [Err] [ModelDatabase.cc:394] Unable to get model name[http://models.gazebosim.org/drc_practice_door_4x8]
[gzclient-3] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [http://models.gazebosim.org/disk_part/model.config]. Only locally installed models will be available.
[gzclient-3] [Err] [ModelDatabase.cc:394] Unable to get model name[http://models.gazebosim.org/disk_part]
^[[B^[[B^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1745992845.540325384] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 36983]

报错内容如下：
~/chapt4/chapt4_ws$ colcon build
Starting >>> chapt4_interfaces
--- stderr: chapt4_interfaces
CMake Error at /opt/ros/humble/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:20 (find_package):
By not providing "FindPythonInterp.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"PythonInterp", but CMake did not find one.

Could not find a package configuration file provided by "PythonInterp"
(requested version 3.6) with any of the following names:

PythonInterpConfig.cmake pythoninterp-config.cmake

Add the installation prefix of "PythonInterp" to CMAKE_PREFIX_PATH or set
"PythonInterp_DIR" to a directory containing one of the above files. If
"PythonInterp" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
CMakeLists.txt:13 (rosidl_generate_interfaces)

gmake: *** [Makefile:747：cmake_check_build_system] 错误 1

Failed <<< chapt4_interfaces [1.72s, exited with code 2]

Summary: 0 packages finished [1.81s]
1 package failed: chapt4_interfaces
1 package had stderr output: chapt4_interfaces

开始提示Cmake版本<3.10怎么怎么的，于是我就改了CmakeList文件中第一行为：
cmake_minimum_required(VERSION 4.0)
就有了上面的报错，请问怎么处理？

小鱼好：

我的虚拟机版本是Ubuntu22.04，在终端中安装书中第五章的三个功能包时，没成功，命令和报错分别如下。

sudo apt install ros-humble-mrpt2 -y

报错信息：无法定位软件包 ros-humble-mrpt2

sudo apt install ros-$ROS_DISTRO-tf-transformations

报错信息：有未能满足的依赖关系

sudo pip3 install transforms3d

报错信息： 内容太多，重点是The read operation timed out.

期盼你在空闲时回复解决办法哈，谢谢

背景(可选)：

我要实现简单的rviz模型显示，只有base_link和imu_link

问题描述：

为什么我的imu_link显示的是红色的，改了颜色<material name="black">还是显示红色，但是改形状<geometry>
<box size="0.02 0.02 0.02" />
</geometry>
有相对应的反应
图片1(1).png

具体细节和上下文：

first_robot.urdf的代码如下
图片1(2).png
d65fae00-dc68-4b7d-ab78-d688bd94d780-image.png

display_robot.launch.py的代码如下
a5bebf2c-3c9e-41c9-a427-33e1a5b5f6dc-image.png

运行时候终端显示如下
f6bbcd19-5fd1-46b2-a10a-df57a4c29fb2-image.png

cmake代码如下
3b341157-df6d-4c40-8afa-3c010d1b939a-image.png

尝试过的解决方法：

我用的是up主的源码，然后裁剪了一下

疑问

两个环境都没有 empy 为什么一个可以编译成功一个不可以

第一个env (base)/ROS_demo/chapt3/chapt3_ws$ colcon build --packages-select example_ros2_interfaces Starting >>> example_ros2_interfaces Finished <<< example_ros2_interfaces [0.77s] Summary: 1 package finished [0.90s] (base) /ROS_demo/chapt3/chapt3_ws$ pip show empy WARNING: Package(s) not found: empy (base) /ROS_demo/chapt3/chapt3_ws$

####第二个env

ModuleNotFoundError: No module named 'em' The Python package 'empy' must be installed (hw) /ROS_demo/chapt3/chapt3_ws/src$

1.9.5.1章节在驱动雷达节点的时候，点云数据可以正常显示。但是会出现红色字体。如下所示；
（我使用的是串口电脑连接雷达。波特率是115200，之前换过921600 但是没啥反应，结构一样）
0fa8c421-4f5a-4237-aadd-d0f1312e8f4e-image.png
2.在9.55章的时候，出现如下问题：
（我使用的是串口，然后驱动launch 文件）
li@ubantu:~/navigation_project/bot_ws$ ros2 launch bringup bringup.launch.py
[INFO] [launch]: All log files can be found below /home/li/.ros/log/2025-04-29-00-17-18-478907-ubantu-7199
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [7201]
[INFO] [robot_state_publisher-2]: process started with pid [7203]
[INFO] [odom2tf-3]: process started with pid [7205]
[INFO] [micro_ros_agent-4]: process started with pid [7207]
[robot_state_publisher-2] [INFO] [1745857038.701965528] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1745857038.702253980] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1745857038.702289228] [robot_state_publisher]: got segment laser_link
[micro_ros_agent-4] [1745857039.582356] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[micro_ros_agent-4] [1745857039.583524] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 6
[joint_state_publisher-1] [INFO] [1745857039.762095517] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[INFO] [ydlidar_node-5]: process started with pid [7252]
[ydlidar_node-5] [INFO] [1745857044.257399143] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_node-5]
[ydlidar_node-5] [2025-04-29 00:17:24][info] SDK initializing
[ydlidar_node-5] [2025-04-29 00:17:24][info] SDK has been initialized
[ydlidar_node-5] [2025-04-29 00:17:24][info] SDK Version: 1.2.9
[ydlidar_node-5] [2025-04-29 00:17:24][info] Connect elapsed time 5 ms
[ydlidar_node-5] [2025-04-29 00:17:24][info] Lidar successfully connected [/dev/ttyUSB0:115200]
[ydlidar_node-5] [2025-04-29 00:17:24][info] Lidar running correctly! The health status good
[ydlidar_node-5] [2025-04-29 00:17:24][info] Current Lidar Model Code 12
[ydlidar_node-5] [2025-04-29 00:17:24][info] Check status, Elapsed time 1 ms
[ydlidar_node-5] [2025-04-29 00:17:24][info] Lidar init success, Elapsed time [7]ms
[ydlidar_node-5] [2025-04-29 00:17:24][info] Start to getting intensity flag
[ydlidar_node-5] [2025-04-29 00:17:25][info] [YDLIDAR] End to getting intensity flag
[ydlidar_node-5] [2025-04-29 00:17:25][info] [YDLIDAR] Create thread 0xC5261640
[ydlidar_node-5] [2025-04-29 00:17:26][info] Successed to start scan mode, Elapsed time 1900 ms
[ydlidar_node-5] [2025-04-29 00:17:26][error] Timeout count: 1
[ydlidar_node-5] [2025-04-29 00:17:27][error] Timeout count: 2
[ydlidar_node-5] [2025-04-29 00:17:28][error] Timeout count: 1
[ydlidar_node-5] [2025-04-29 00:17:29][error] Timeout count: 2
[ydlidar_node-5] [2025-04-29 00:17:30][error] Timeout count: 3
[ydlidar_node-5] [2025-04-29 00:17:33][error] Timeout count: 1
[ydlidar_node-5] [2025-04-29 00:17:34][error] Timeout count: 2
[ydlidar_node-5] [2025-04-29 00:17:35][error] Timeout count: 3
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ydlidar_node-5] [INFO] [1745857056.449131595] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1745857056.449596325] [rclcpp]: signal_handler(signum=2)
[ERROR] [micro_ros_agent-4]: process has died [pid 7207, exit code -2, cmd '/home/li/navigation_project/bot_ws/install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent serial -b 115200 --dev /dev/ttyUSB0 -v6 --ros-args'].
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 7203]
[INFO] [odom2tf-3]: process has finished cleanly [pid 7205]
[INFO] [joint_state_publisher-1]: process has finished cleanly [pid 7201]
[odom2tf-3] [INFO] [1745857056.450243764] [rclcpp]: signal_handler(signum=2)
[ydlidar_node-5] [2025-04-29 00:17:36][error] Failed to turn on the Lidar, because the lidar is [Operation timed out].
[ydlidar_node-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[ydlidar_node-5] what(): could not create publisher: rcl node's context is invalid, at ./src/rcl/node.c:428
[ERROR] [ydlidar_node-5]: process has died [pid 7252, exit code -6, cmd '/home/li/navigation_project/bot_ws/install/ydlidar/lib/ydlidar/ydlidar_node --ros-args -r __node:=ydlidar_node -r __ns:=/ --params-file /home/li/navigation_project/bot_ws/install/ydlidar/share/ydlidar/params/ydlidar.yaml'].
[ydlidar_node-5]
9f5c8269-8293-4fba-b977-e0c2fec746a3-image.png
然后是没有scan话题的（如上），我的启动的launch文件如下：
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
bringup_dir = get_package_share_directory(
'bringup')
ydlidar_ros2_dir = get_package_share_directory(
'ydlidar')

urdf2tf = launch.actions.IncludeLaunchDescription( PythonLaunchDescriptionSource( [bringup_dir, '/launch', '/urdf2tf.launch.py']), ) odom2tf = launch_ros.actions.Node( package='bringup', executable='odom2tf', output='screen' ) microros_agent = launch_ros.actions.Node( package='micro_ros_agent', executable='micro_ros_agent', arguments=[ 'serial', # 切换为串口模式 '-b', '115200', # 波特率参数（需字符串类型） '--dev', '/dev/ttyUSB0', # 设备路径 '-v6' # 日志详细级别 ], output='screen' # 保持终端输出可见 ) ydlidar = launch.actions.IncludeLaunchDescription( PythonLaunchDescriptionSource( [ydlidar_ros2_dir, '/launch', '/ydlidar_launch.py']), ) # 使用 TimerAction 启动后 5 秒执行 ydlidar 节点 ydlidar_delay = launch.actions.TimerAction(period=5.0, actions=[ydlidar]) return launch.LaunchDescription([ urdf2tf, odom2tf, microros_agent, ydlidar_delay ])

我的雷达yaml文件如下：
6c40e7fa-d50f-4cda-b0cb-bedb2f0eb2b7-image.png
然后我后面单独驱动雷达节点如下：
afadd370-2cdd-4f28-b037-6b02010e7081-image.png
我应该怎么修改呢？

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PS C:\Users\lenovo> wsl
wxyros@LAPTOP-H729PCGI:/mnt/c/Users/lenovo$ 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:$ROS_DISTRO udp4 --port 8888 -v6
[sudo] password for wxyros:
[1745498564.706010] error | UDPv4AgentLinux.cpp | init | bind error | port: 8888, errno: 98
Error while starting IPvX agent!
[1745498564.706173] info | UDPv4AgentLinux.cpp | fini | server stopped | port: 8888
wxyros@LAPTOP-H729PCGI:/mnt/c/Users/lenovo$ 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:$ROS_DISTRO udp4 --port 8888 -v6
[1745498598.116541] error | UDPv4AgentLinux.cpp | init | bind error | port: 8888, errno: 98
Error while starting IPvX agent!
[1745498598.116644] info | UDPv4AgentLinux.cpp | fini | server stopped | port: 8888
wxyros@LAPTOP-H729PCGI:/mnt/c/Users/lenovo$

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 ])