我将两个单线激光雷达的数据传入cartographer，设置了num_laser_scans = 2,将话题进行了重映射，小车静止不动，定位结果也会乱飞，这个是什么问题？

ros aruco识别不上

相机内参标定好之后，更改了文件，aruco识别不上标定板

背景：

我正在做机械臂的手眼标定，相机采用单目相机，我首先完成了棋盘格的相机内参标定，在相机启动launch文件下添加了内参标定的文件，同样在小鱼gitee上提供的手眼标定文件中aruco识别文件改了标定的参数，及地址。采用的是ID0

问题：

运行程序后，将板子放置摄像头前面，丝毫没有变化

如果有人能够解释为什么会发生这种情况，或者我的理解有误，我将非常感激！

Nav2启动时Rviz2里无法正常加载地图。
系统配置如下：
Linux：Ubuntu 22.04
ROS2：Humble
雷达话题：/scan
里程计话题：bringup发布的是/odom1，和IMU通过ekf融合后输出的话题是/odom

配置文件如下：
amcl:
ros__parameters:
use_sim_time: False
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"

pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 robot_model_type: "nav2_amcl::DifferentialMotionModel" save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: true transform_tolerance: 1.0 update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 z_max: 0.05 z_rand: 0.5 z_short: 0.05 scan_topic: scan

amcl_map_client:
ros__parameters:
use_sim_time: False

amcl_rclcpp_node:
ros__parameters:
use_sim_time: False

bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
# default_bt_xml_filename: "/home/hermes/161/fishbot/src/fishbot_navigation2/xml/my_xml.xml"
# default_nav_to_pose_bt_xml: "/home/hermes/161/fishbot/src/fishbot_navigation2/xml/my_xml.xml"
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node

bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: False

controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.001
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.9
progress_checker_plugin: "progress_checker"
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]

# Progress checker parameters progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 3.14 movement_time_allowance: 50.0 # Goal checker parameters #precise_goal_checker: # plugin: "nav2_controller::SimpleGoalChecker" # xy_goal_tolerance: 0.25 # yaw_goal_tolerance: 0.25 # stateful: True general_goal_checker: stateful: True plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 # DWB parameters FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: -0.0 min_vel_y: -0.0 max_vel_x: 0.23 max_vel_y: 0.0 max_vel_theta: 0.81 # 修改最大角速度 min_speed_xy: -0.0 max_speed_xy: 0.22 min_speed_theta: -0.11 acc_lim_x: 1.0 acc_lim_y: 1.0 acc_lim_theta: 6.1 # 修改角速度加速度限制 decel_lim_x: -2.5 decel_lim_y: 0.0 decel_lim_theta: -0.3 # 修改角速度减速度限制 vx_samples: 30 # 增加线速度样本数量 vy_samples: 10 vtheta_samples: 20 sim_time: 3.0 linear_granularity: 0.05 angular_granularity: 0.025 transform_tolerance: 0.2 xy_goal_tolerance: 0.25 trans_stopped_velocity: 0.25 short_circuit_trajectory_evaluation: True stateful: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] BaseObstacle.scale: 0.01 # 减小与障碍物距离的权重 PathAlign.scale: 48.0 # 增加与路径对齐的权重 PathAlign.forward_point_distance: 0.1 GoalAlign.scale: 36.0 # 增加与目标对齐的权重 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 48.0 # 增加路径距离的权重 GoalDist.scale: 36.0 # 增加目标距离的权重 RotateToGoal.scale: 32.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0

controller_server_rclcpp_node:
ros__parameters:
use_sim_time: False

local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_link
use_sim_time: False
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.45
plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.6
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: 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
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
use_sim_time: False
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: False

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: False
robot_radius: 0.45
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: 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: 0.6
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: False
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: False

map_server:
ros__parameters:
use_sim_time: False
yaml_filename: "turtlebot3_world.yaml"

map_saver:
ros__parameters:
use_sim_time: False
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True

planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true

planner_server_rclcpp_node:
ros__parameters:
use_sim_time: False

smoother_server:
ros__parameters:
use_sim_time: False
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True

behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.1
use_sim_time: False
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2

robot_state_publisher:
ros__parameters:
use_sim_time: False

waypoint_follower:
ros__parameters:
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200

报错如下：
[INFO] [launch]: All log files can be found below /home/agx/.ros/log/2025-05-14-08-08-56-824411-ubuntu-7779
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_isolated-1]: process started with pid [7792]
[INFO] [rviz2-2]: process started with pid [7794]
[component_container_isolated-1] [INFO] [1747224537.918626279] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_map_server/lib/libmap_server_core.so
[component_container_isolated-1] [INFO] [1747224537.962328846] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated-1] [INFO] [1747224537.962416269] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated-1] [INFO] [1747224537.962429933] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-1] [INFO] [1747224537.962438829] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-1] [INFO] [1747224537.976989477] [map_server]:
[component_container_isolated-1] map_server lifecycle node launched.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container'
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224537.977090020] [map_server]: Creating
[component_container_isolated-1] [INFO] [1747224537.983997123] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_amcl/lib/libamcl_core.so
[component_container_isolated-1] [INFO] [1747224537.997021194] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-1] [INFO] [1747224537.997120297] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-1] [INFO] [1747224538.011386499] [amcl]:
[component_container_isolated-1] amcl lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.016541139] [amcl]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.031733797] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_lifecycle_manager/lib/libnav2_lifecycle_manager_core.so
[component_container_isolated-1] [INFO] [1747224538.035436258] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1747224538.035504577] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1747224538.049036003] [lifecycle_manager_localization]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_localization' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.056538269] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[component_container_isolated-1] [INFO] [1747224538.057436692] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_controller/lib/libcontroller_server_core.so
[component_container_isolated-1] [INFO] [1747224538.071887117] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [INFO] [1747224538.071976044] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [INFO] [1747224538.087189726] [lifecycle_manager_localization]: Starting managed nodes bringup...
[component_container_isolated-1] [INFO] [1747224538.087283613] [lifecycle_manager_localization]: Configuring map_server
[component_container_isolated-1] [INFO] [1747224538.087617402] [map_server]: Configuring
[component_container_isolated-1] [INFO] [1747224538.087746201] [map_io]: Loading yaml file: /home/agx/semantic_map_ws/install/bot_navigation2/share/bot_navigation2/maps/indoor_labelled.yaml
[component_container_isolated-1] [INFO] [1747224538.088744751] [map_io]: resolution: 0.05
[component_container_isolated-1] [INFO] [1747224538.088790319] [map_io]: origin[0]: -44.4
[component_container_isolated-1] [INFO] [1747224538.088801359] [map_io]: origin[1]: -50
[component_container_isolated-1] [INFO] [1747224538.088807951] [map_io]: origin[2]: 0
[component_container_isolated-1] [INFO] [1747224538.088813615] [map_io]: free_thresh: 0.25
[component_container_isolated-1] [INFO] [1747224538.088818702] [map_io]: occupied_thresh: 0.65
[component_container_isolated-1] [INFO] [1747224538.088827598] [map_io]: mode: trinary
[component_container_isolated-1] [INFO] [1747224538.088835342] [map_io]: negate: 0
[component_container_isolated-1] [INFO] [1747224538.094173052] [map_io]: Loading image_file: /home/agx/semantic_map_ws/install/bot_navigation2/share/bot_navigation2/maps/indoor.pgm
[component_container_isolated-1] [INFO] [1747224538.095581551] [controller_server]:
[component_container_isolated-1] controller_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.126407759] [controller_server]: Creating controller server
[component_container_isolated-1] [INFO] [1747224538.146205525] [local_costmap.local_costmap]:
[component_container_isolated-1] local_costmap lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.151738274] [local_costmap.local_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.159312699] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so
[component_container_isolated-1] [INFO] [1747224538.166488856] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-1] [INFO] [1747224538.166576695] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-1] [INFO] [1747224538.186081696] [smoother_server]:
[component_container_isolated-1] smoother_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.191682892] [smoother_server]: Creating smoother server
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/smoother_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.197455926] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_planner/lib/libplanner_server_core.so
[component_container_isolated-1] [INFO] [1747224538.201347089] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1747224538.201407857] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1747224538.217642233] [planner_server]:
[component_container_isolated-1] planner_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.223365731] [planner_server]: Creating
[component_container_isolated-1] [INFO] [1747224538.242474129] [global_costmap.global_costmap]:
[component_container_isolated-1] global_costmap lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.244314815] [global_costmap.global_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planner_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.254491968] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_behaviors/lib/libbehavior_server_core.so
[component_container_isolated-1] [INFO] [1747224538.268253279] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-1] [INFO] [1747224538.268321567] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-1] [INFO] [1747224538.284715461] [behavior_server]:
[component_container_isolated-1] behavior_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/behavior_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.296269241] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_bt_navigator/lib/libbt_navigator_core.so
[component_container_isolated-1] [INFO] [1747224538.304106480] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-1] [INFO] [1747224538.304175119] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-1] [INFO] [1747224538.321664651] [bt_navigator]:
[component_container_isolated-1] bt_navigator lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.321792426] [bt_navigator]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bt_navigator' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.325634406] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_waypoint_follower/lib/libwaypoint_follower_core.so
[component_container_isolated-1] [INFO] [1747224538.328594635] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-1] [INFO] [1747224538.328644714] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-1] [INFO] [1747224538.344109561] [waypoint_follower]:
[component_container_isolated-1] waypoint_follower lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.347691000] [waypoint_follower]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/waypoint_follower' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.352402988] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_velocity_smoother/lib/libvelocity_smoother_core.so
[component_container_isolated-1] [INFO] [1747224538.356282727] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-1] [INFO] [1747224538.356422374] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-1] [INFO] [1747224538.375497492] [velocity_smoother]:
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velocity_smoother' in container '/nav2_container'
[component_container_isolated-1] velocity_smoother lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.378981395] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1747224538.379051154] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1747224538.393011536] [lifecycle_manager_navigation]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_navigation' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.397875298] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[component_container_isolated-1] [INFO] [1747224538.401186307] [map_io]: Read map /home/agx/semantic_map_ws/install/bot_navigation2/share/bot_navigation2/maps/indoor.pgm: 1531 X 1510 map @ 0.05 m/cell
[component_container_isolated-1] [INFO] [1747224538.415737531] [lifecycle_manager_localization]: Configuring amcl
[component_container_isolated-1] [INFO] [1747224538.415991641] [amcl]: Configuring
[component_container_isolated-1] [INFO] [1747224538.416156727] [amcl]: initTransforms
[component_container_isolated-1] [INFO] [1747224538.444377231] [amcl]: initPubSub
[component_container_isolated-1] [INFO] [1747224538.449217474] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[component_container_isolated-1] [INFO] [1747224538.449367520] [lifecycle_manager_navigation]: Configuring controller_server
[component_container_isolated-1] [INFO] [1747224538.449921755] [controller_server]: Configuring controller interface
[component_container_isolated-1] [INFO] [1747224538.450360087] [controller_server]: getting goal checker plugins..
[component_container_isolated-1] [INFO] [1747224538.450577941] [controller_server]: Controller frequency set to 20.0000Hz
[component_container_isolated-1] [INFO] [1747224538.450642740] [local_costmap.local_costmap]: Configuring
[component_container_isolated-1] [INFO] [1747224538.458376652] [amcl]: Subscribed to map topic.
[component_container_isolated-1] [INFO] [1747224538.460541560] [local_costmap.local_costmap]: Using plugin "static_layer"
[component_container_isolated-1] [INFO] [1747224538.477393658] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[component_container_isolated-1] [INFO] [1747224538.482347596] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[component_container_isolated-1] [INFO] [1747224538.482412875] [local_costmap.local_costmap]: Using plugin "obstacle_layer"
[component_container_isolated-1] [INFO] [1747224538.484549463] [lifecycle_manager_localization]: Activating map_server
[component_container_isolated-1] [INFO] [1747224538.484803733] [map_server]: Activating
[component_container_isolated-1] [INFO] [1747224538.485179761] [local_costmap.local_costmap]: Subscribed to Topics: scan
[component_container_isolated-1] [INFO] [1747224538.486572388] [map_server]: Creating bond (map_server) to lifecycle manager.
[component_container_isolated-1] malloc(): invalid size (unsorted)
[component_container_isolated-1] Magick: abort due to signal 6 (SIGABRT) "Abort"...
[rviz2-2] [INFO] [1747224538.742160396] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1747224538.742477769] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1747224538.824175565] [rviz2]: Stereo is NOT SUPPORTED
[ERROR] [component_container_isolated-1]: process has died [pid 7792, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_02dgqwm7 --params-file /tmp/launch_params_tcc1vpuj -r /tf:=tf -r /tf_static:=tf_static'].
[rviz2-2] [INFO] [1747224539.960257189] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.063 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.055364491] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.150 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.119518419] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.230 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.215937772] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.310 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.279572121] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.390 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.375857876] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.469 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.439654143] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.555 for reason 'discarding message because the queue is full'

TF树如下：
a7556c33-0e45-4740-ba9b-b19930cc832d-image.png

节点话题关系如下：
af370d86-a40f-4dfa-abfa-903eda274481-image.png

我在使用键盘控制节点的时候，按键盘的i车向前走，然后我又按j建，但是这个时候车还是向前走，电机的布局就是你们教程中的那样

编译的时候报错信息如下

CMake Error at flow/CMakeLists.txt:17 (target_link_libraries): Error evaluating generator expression: $<TARGET_PROPERTY:fastcdr,TYPE> Target "fastcdr" not found.

感觉和dds相关，有人遇到过吗

按照教程一步步操作了，也在社区看了很多帖子，依然没有什么头绪，不得已请假下各位大佬们

环境 2驱差速fishbot，EAI S2 雷达 树莓派4b 、ubuntu22.04桌面版、ros2 humb git clone 源码编译 ydlidar_ros2 已做的工作

1、按照教程，使用工具给雷达板刷好了固件
489b8f8c-c578-4523-8661-0b51307ccf3d-image.png

2、雷达转接板在刷好固件后，跳线帽切换了USB模式，并使用串口助手，验证了雷达转接板在115200波特率下，有二进制数据不断输出
8e2c0134-79a5-4c4e-abd1-57166c35d96b-image.png

3、确认插上串口后，驱动正常，并修改yml配置文件为下面设备 /dev/ttyUSB0
52709014-09be-4a46-8924-01b302373bc9-image.png
8af014ed-afbd-41ab-afd8-5044382afa68-image.png

4、正确编译了雷达驱动并sudo chmod 666 /dev/ttyUSB0 给予了权限，执行ros2 launch ydlidar ydlidar_launch.py 失败，信息如下
7805a94c-73e2-4a3f-90ba-031174c8ea3e-image.png

5、重试，插拔串口、反复操作，成功了一次，过十秒左右但是又开始报错
6bc31183-9357-4365-b1bc-66c36d845b1c-image.png
此时的topic
3426d3c7-0f6e-4299-aea2-2e42f9e9ad99-image.png

6、启动rviz2 ，配置好后也没有任何反应，画面里无雷达数据
6b5ac07e-fef5-4d10-a969-10fa4b2d3d3b-image.png

遇到的问题总结

由于wifi的方式也试过了，也是这个问题，于是使用了usb串口直连，排除网络问题，仍然这样子
每次启动后一会儿就报错，rviz2无任何数据显示
[ydlidar_node-1] [ERROR] [1747213588.454829551] [ydlidar_node]: Failed to get scan

由于使用树莓派，无法使用docker启动雷达建图案例，特此求助各位大佬。

代码清单 2-19
我的电脑colcon build 编译后生成的install/是setup.sh没有.bash结尾的文件，这两个文件有什么 区别吗？

我source install/setup.sh没有报错，但是ros2 run demo_python_pkg python_node还是找不到包。然后echo环境变量的路径，也没有导入我当前的路径。

ros2 run demo_python_topic novel_pub_node 命令输入后报错
错误信息:
Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 700, in urlopen
httplib_response = self._make_request(
File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 383, in _make_request
self._validate_conn(conn)
File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 1017, in validate_conn
conn.connect()
File "/usr/lib/python3/dist-packages/urllib3/connection.py", line 411, in connect
self.sock = ssl_wrap_socket(
File "/usr/lib/python3/dist-packages/urllib3/util/ssl.py", line 453, in ssl_wrap_socket
ssl_sock = ssl_wrap_socket_impl(sock, context, tls_in_tls)
File "/usr/lib/python3/dist-packages/urllib3/util/ssl.py", line 495, in _ssl_wrap_socket_impl
return ssl_context.wrap_socket(sock)
File "/usr/lib/python3.10/ssl.py", line 513, in wrap_socket
return self.sslsocket_class._create(
File "/usr/lib/python3.10/ssl.py", line 1100, in _create
self.do_handshake()
File "/usr/lib/python3.10/ssl.py", line 1371, in do_handshake
self._sslobj.do_handshake()
ssl.SSLError: [SSL: WRONG_VERSION_NUMBER] wrong version number (_ssl.c:1007)

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/requests/adapters.py", line 439, in send
resp = conn.urlopen(
File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 756, in urlopen
retries = retries.increment(
File "/usr/lib/python3/dist-packages/urllib3/util/retry.py", line 576, in increment
raise MaxRetryError(_pool, url, error or ResponseError(cause))
urllib3.exceptions.MaxRetryError: HTTPSConnectionPool(host='0.0.0.0', port=8000): Max retries exceeded with url: /novel1.txt (Caused by SSLError(SSLError(1, '[SSL: WRONG_VERSION_NUMBER] wrong version number (_ssl.c:1007)')))

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/home/cxy/chapt3/topic_ws/install/demo_python_topic/lib/demo_python_topic/novel_pub_node", line 33, in <module>
sys.exit(load_entry_point('demo-python-topic==0.0.0', 'console_scripts', 'novel_pub_node')())
File "/home/cxy/chapt3/topic_ws/install/demo_python_topic/lib/python3.10/site-packages/demo_python_topic/novel_pub_node.py", line 32, in main
node.download_novel('https://0.0.0.0:8000/novel1.txt')
File "/home/cxy/chapt3/topic_ws/install/demo_python_topic/lib/python3.10/site-packages/demo_python_topic/novel_pub_node.py", line 16, in download_novel
response = requests.get(url)
File "/usr/lib/python3/dist-packages/requests/api.py", line 76, in get
return request('get', url, params=params, **kwargs)
File "/usr/lib/python3/dist-packages/requests/api.py", line 61, in request
return session.request(method=method, url=url, **kwargs)
File "/usr/lib/python3/dist-packages/requests/sessions.py", line 544, in request
resp = self.send(prep, **send_kwargs)
File "/usr/lib/python3/dist-packages/requests/sessions.py", line 657, in send
r = adapter.send(request, **kwargs)
File "/usr/lib/python3/dist-packages/requests/adapters.py", line 514, in send
raise SSLError(e, request=request)
requests.exceptions.SSLError: HTTPSConnectionPool(host='0.0.0.0', port=8000): Max retries exceeded with url: /novel1.txt (Caused by SSLError(SSLError(1, '[SSL: WRONG_VERSION_NUMBER] wrong version number (_ssl.c:1007)')))
[ros2run]: Process exited with failure 1

5be95947-1f38-49a1-a63d-a04e4073fa66-image.png
这一步之后怎么继续获取roscore呢

截图 2025-05-13 20-04-28.png 截图 2025-05-13 20-02-02.png

![579a0f65-68fa-4f5a-ae18-d01d1c4214d0-图片.png](/forum/assets/uploads/files/1747137730496-579a0f65-68fa-4f5a-ae18-d01d1c4214d0-图片-resized.pn

ubuntu 24.04
ros2 jazzy
如何正确启动 controller_manager 服务
总是报错：
[WARN] [1747125326.023368186] [_ros2cli_92545]: Could not contact service /controller_manager/list_controller_types
[INFO] [1747125326.024144378] [_ros2cli_92545]: waiting for service /controller_manager/list_controller_types to become available...

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

ubuntu22.04.5一键安装ROS2humble所有选项选完安装时，有一步卡住一直不往下进行，之前还出现了许多错误，还有请问是什么原因，要怎么解决，谢谢。1747049456745.jpg 1747049567668.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。

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