更新：更加自由的构建STM32 Microros静态库的方法（适用于linux X86 arm64本文只讲述x86，arm64流程一致，不过需要将arm64系统中的编译器补全部分库即可）
一.使用 micro_ros_setup 生成Microros静态链接库 Ubuntu x86环境：前提 ，需要下载交叉编译器，若已安装可以跳过 sudo apt-get install -y gcc-arm-none-eabi下面为从创建工作空间到生成静态库的所有命令，一步一步运行即可：
source /opt/ros/$ROS_DISTRO/setup.bash mkdir uros_ws && cd uros_ws git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup #若不能使用rosdep，可以使用rosdepc rosdep update && rosdep install --from-paths src --ignore-src -y colcon build source install/local_setup.bash ros2 run micro_ros_setup create_firmware_ws.sh generate_lib generic407d70c5-db3b-4400-bda3-a1878d5cde9d-image.png
到此，基础构建完成目录如上图所示，但还需要配置两个配置文件 toolchain.cmake和colcon.meta才能生成静态链接库
toolchain.cmake配置如下
注意：在toolchain.cmake中的 -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard 部分最好根据生成的工程中cmake配置文件保持一致，此配置对stm32同意系列生效（一般同一系列内核保持一致，例如F1系列内核为M3，F4系列内核为M4）如下图所示
af7fe6b2-584e-490e-b35d-710339e9d790-image.png
colcon.meta配置如下，此配置摘抄自 micro_ros_stm32cubemx_utils 配置文件如下图所示路径
e4d5e2d0-7792-41c4-b111-9976e12f4707-image.png
{ "names": { "tracetools": { "cmake-args": [ "-DTRACETOOLS_DISABLED=ON", "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF" ] }, "rosidl_typesupport": { "cmake-args": [ "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON" ] }, "rcl": { "cmake-args": [ "-DBUILD_TESTING=OFF", "-DRCL_COMMAND_LINE_ENABLED=OFF", "-DRCL_LOGGING_ENABLED=OFF" ] }, "rcutils": { "cmake-args": [ "-DENABLE_TESTING=OFF", "-DRCUTILS_NO_FILESYSTEM=ON", "-DRCUTILS_NO_THREAD_SUPPORT=ON", "-DRCUTILS_NO_64_ATOMIC=ON", "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON" ] }, "microxrcedds_client": { "cmake-args": [ "-DUCLIENT_PIC=OFF", "-DUCLIENT_PROFILE_UDP=OFF", "-DUCLIENT_PROFILE_TCP=OFF", "-DUCLIENT_PROFILE_DISCOVERY=OFF", "-DUCLIENT_PROFILE_SERIAL=OFF", "-UCLIENT_PROFILE_STREAM_FRAMING=ON", "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON" ] }, "rmw_microxrcedds": { "cmake-args": [ "-DRMW_UXRCE_MAX_NODES=1", "-DRMW_UXRCE_MAX_PUBLISHERS=10", "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5", "-DRMW_UXRCE_MAX_SERVICES=1", "-DRMW_UXRCE_MAX_CLIENTS=1", "-DRMW_UXRCE_MAX_HISTORY=4", "-DRMW_UXRCE_TRANSPORT=custom" ] } } }上述两个文件（toolchain.cmake colcon.meta）放入如下图所示的路径中 ~/uros_ws/firmware/mcu_ws
88c1c1d3-f1cd-4ef9-9817-28c3b1ef1f01-image.png
最后编译静态库
最后生成文件在firmware/build目录下，如下图所示
b59283e9-50de-46aa-b7ab-0a0d87a258ef-image.png
将inclue目录和静态库文件移植到stm32工程文件中即可使用
6e4a20bd-4db6-4067-b0cc-ff323fb5cdf8-image.png
在STM32 CMakeLists.txt文件中需要加入以下内容
编译C文件
并在如下图位置加入即可
cbbba782-a7db-42e5-8a37-b21c8c1aa48b-image.png
添加静态库文件
并在如下图位置加入即可
368ae08c-5295-44ae-b79a-04b857ef7a0d-image.png
cmake内容如下，但由于该工程有其他库内容，读者只需看个模板即可，具体内容还是根据读者工程目录进行修改
cmake_minimum_required(VERSION 3.22) # # This file is generated only once, # and is not re-generated if converter is called multiple times. # # User is free to modify the file as much as necessary # # Setup compiler settings set(CMAKE_C_STANDARD 11) set(CMAKE_C_STANDARD_REQUIRED ON) set(CMAKE_C_EXTENSIONS ON) # Define the build type if(NOT CMAKE_BUILD_TYPE) set(CMAKE_BUILD_TYPE "Debug") endif() # Set the project name set(CMAKE_PROJECT_NAME MicroROSF4_Cmake) # Include toolchain file include("cmake/gcc-arm-none-eabi.cmake") # Enable compile command to ease indexing with e.g. clangd set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE) # Core project settings project(${CMAKE_PROJECT_NAME}) message("Build type: " ${CMAKE_BUILD_TYPE}) # Enable CMake support for ASM and C languages enable_language(C ASM) # Create an executable object type add_executable(${CMAKE_PROJECT_NAME}) # Add STM32CubeMX generated sources add_subdirectory(cmake/stm32cubemx) # Link directories setup target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE # Add user defined library search paths ) # # 3rd-party lib start # # set(THIRD_PARTY_LIB "${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/lib/libmicroros.a") set(extera_source_control ${PROJECT_SOURCE_DIR}/Third-party/control/Src/control.c ${PROJECT_SOURCE_DIR}/Third-party/control/Src/Encoder.c ${PROJECT_SOURCE_DIR}/Third-party/oled/Src/I2C_Fun.c ${PROJECT_SOURCE_DIR}/Third-party/imu/Src/ICM20948.c ${PROJECT_SOURCE_DIR}/Third-party/oled/Src/oled.c ${PROJECT_SOURCE_DIR}/Third-party/delay/Src/Delay.c ${PROJECT_SOURCE_DIR}/Third-party/robot_sys/Src/sys_struct.c ${PROJECT_SOURCE_DIR}/Third-party/MadgwickAHRS/Src/MadgwickAHRS.c ) set(extera_source ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/custom_memory_manager.c ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_allocators.c ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_time.c ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_transports/dma_transport.c ) message(STATUS "dir is = ${PROJECT_SOURCE_DIR}") add_library(LibMicroros_app ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microrosapp/Src/microrosclass_agent.cpp ) target_include_directories(LibMicroros_app PRIVATE ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Inc/microros_include ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microrosapp/Inc ) target_sources(LibMicroros_app PRIVATE # Add user sources here ${extera_source} Third-party/Lib_Microrosapp/Src/microros_class.cpp ) target_link_libraries(LibMicroros_app PRIVATE stm32cubemx ${THIRD_PARTY_LIB} ) # # 3rd-party lib end # # # Add sources to executable target_sources(${CMAKE_PROJECT_NAME} PRIVATE # Add user sources here ${extera_source} ${extera_source_control} ) # Add include paths target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE # Add user defined include paths ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Inc/microros_include ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microrosapp/Inc ${PROJECT_SOURCE_DIR}/Third-party/MadgwickAHRS/Inc ${PROJECT_SOURCE_DIR}/Third-party/control/Inc ${PROJECT_SOURCE_DIR}/Third-party/oled/Inc ${PROJECT_SOURCE_DIR}/Third-party/imu/Inc ${PROJECT_SOURCE_DIR}/Third-party/robot_sys/Inc ${PROJECT_SOURCE_DIR}/Third-party/delay/Inc ) # Add project symbols (macros) target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE # Add user defined symbols ) # Add linked libraries target_link_libraries(${CMAKE_PROJECT_NAME} stm32cubemx # Add user defined libraries LibMicroros_app # 自己生成的静态库 ${THIRD_PARTY_LIB} # 第三方静态库 )5d1e469f-84e0-4211-b7c2-80dbd10c13c0-image.png
剩下的内容可以查看我上一章节内容，主要是microros agent的构建与使用AGENT使用
由于激光雷达发送的消息类型为PointCloud2，所以我将消息转为LaserScan类型发布到话题/scan，然后用slam_toolbox去订阅这个话题来建图，启动launch脚本后使用rviz2订阅/map无任何显示，可以确定的是/scan话题有消息，且能在rviz2上展示。
launch脚本内容为
微信图片_20250523201553.png
配置文件内容为
微信图片_20250523201612.png
rviz2显示
微信图片_20250523201603.png
[component_container_isolated-1] [INFO] [1747966784.721088098] [amcl]: Message Filter dropping message: frame 'laser_link' at time 1747966783.650 for reason 'the timestamp on the message is earlier than all the data in the transform cache'!
有时启动后会报大量上述消息，请问应该如何清除a3c40545f57fb96b44218cf25f4a3c44.png
回复: [FishBotCamera]1.固件下载与配置
小鱼这种是什么情况，能烧录成功，但是配置项有问题，怎么切换到run模型呢，且显示屏在雷达版上正常，在主控板上不显示是什么问题呢？
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ubuntu20@ubuntu20:~$ ros2 topic echo /turtle1/pose
Traceback (most recent call last):
File "/opt/ros/foxy/bin/ros2", line 11, in <module>
load_entry_point('ros2cli==0.9.13', 'console_scripts', 'ros2')()
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2cli/cli.py", line 67, in main
rc = extension.main(parser=parser, args=args)
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/command/topic.py", line 41, in main
return extension.main(args=args)
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/verb/echo.py", line 71, in main
return main(args)
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/verb/echo.py", line 86, in main
message_type = get_msg_class(node, args.topic_name, include_hidden_topics=True)
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/api/init.py", line 99, in get_msg_class
msg_class = _get_msg_class(node, topic, include_hidden_topics)
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/api/init.py", line 144, in _get_msg_class
return get_message(message_type)
File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_runtime_py/utilities.py", line 30, in get_message
raise ValueError("Expected the full name of a message, got '{}'".format(identifier))
ValueError: Expected the full name of a message, got 'turtlesim/msg/Pose'
小鱼科普：rosdep干什么用的？可以跳过吗？https://fishros.org.cn/forum/topic/2124
如果再使用过程中遇到任何问题，欢迎通过fishros.org.cn反馈，或者加入QQ交流群(139707339)，有没有大佬帮忙解决下
如题，在淘宝购买的fishbot二驱动小车（Nav2导航），源码找不到超声波模块和避障的部分，想请教一下在哪（因为代码很杂而且大部分只读不能改，问客服客服也是不知道，导致我功能实现不了）
雷达已测试运行是好的，但放置几天后再次启动就无法使用了，具体日志信息如下：
g@33:~/allchapt/chapt9/fishbot_ws$ ros2 launch fishbot_bringup bringup.launch.py
[INFO] [launch]: All log files can be found below /home/g/.ros/log/2025-05-22-11-23-27-579527-33-6370
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [6391]
[INFO] [robot_state_publisher-2]: process started with pid [6393]
[INFO] [odom2tf-3]: process started with pid [6395]
[INFO] [micro_ros_agent-4]: process started with pid [6398]
[INFO] [tcp_server-5]: process started with pid [6400]
[micro_ros_agent-4] [1747884207.914620] info | UDPv4AgentLinux.cpp | init | running... | port: 8888
[micro_ros_agent-4] [1747884207.915279] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[robot_state_publisher-2] [INFO] [1747884208.019689224] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1747884208.019910190] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1747884208.019927109] [robot_state_publisher]: got segment laser_link
[tcp_server-5] [INFO] [1747884208.318127011] [tcp_socket_server_node]: TCP端口:8889，已映射到串口设备:/tmp/tty_laser
[tcp_server-5] [INFO] [1747884208.318863056] [tcp_socket_server_node]: 等待接受连接..
[joint_state_publisher-1] [INFO] [1747884208.547485726] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[INFO] [ydlidar_node-6]: process started with pid [6661]
[ydlidar_node-6] [YDLIDAR INFO] Current ROS Driver Version: 1.4.5
[ydlidar_node-6] [YDLIDAR]:SDK Version: 1.4.5
[ydlidar_node-6] [YDLIDAR]:Lidar running correctly ! The health status: good
[ydlidar_node-6] timout count: 1
[ydlidar_node-6] timout count: 2
[ydlidar_node-6] timout count: 1
[ydlidar_node-6] 131607105111616 thread has been canceled
[ydlidar_node-6] [CYdLidar] Failed to turn on the Lidar, because the lidar is blocked or the lidar hardware is faulty.
[ydlidar_node-6] [YDLIDAR INFO] Now YDLIDAR is stopping .......
[INFO] [ydlidar_node-6]: process has finished cleanly [pid 6661]
显示到这里就不会动了，一直留在这里。
自己尝试过的方案：
1、重启虚拟机没用；
2、重启设备没用；
3、自行AI和百度后反馈雷达可能坏了？
我想请教下小鱼老师如何判断是不是雷达坏了还是说可能是其他情况啦？现在雷达还可以正常转动也能联网，检查了连线也未发现松动或脱落。运行时机子如下：
89119567-1642-4509-b9b8-0fa5e8d13307-b4eca88e45338eb6fa3a7eb2aeb4ce1.jpg
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
import os
import xacro
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
share_dir = get_package_share_directory('robot_demo1_description')
按照这个教程操作：
要使用 SkiROS，您必须在计算机上安装 ROS。 您还需要 pip 来安装 python 依赖项。
将此仓库克隆到你的 catkin 工作区 src 目录中：
mkdir -p catkin_ws/src && cd catkin_ws/src
git clone https://github.com/RVMI/skiros2
git clone https://github.com/RVMI/skiros2_std_lib
Optionally, you can clone the skiros2_examples repositories here as well:git clone https://github.com/RVMI/skiros2_examples
使用 rosdep 和 python 依赖项安装每个组件中定义的依赖项：package.xml
rosdep install --from-paths . --ignore-src --rosdistro=$ROS_DISTRO -y
Install Python dependenciespip install -r requirements.txt --user
出错了：
fc@fc:~$ mkdir -p catkin_ws/src && cd catkin_ws/src
fc@fc:~/catkin_ws/src$ git clone https://github.com/RVMI/skiros2
Cloning into 'skiros2'...
remote: Enumerating objects: 1380, done.
remote: Counting objects: 100% (194/194), done.
remote: Compressing objects: 100% (51/51), done.
remote: Total 1380 (delta 160), reused 143 (delta 143), pack-reused 1186 (from 2)
Receiving objects: 100% (1380/1380), 3.41 MiB | 2.93 MiB/s, done.
Resolving deltas: 100% (763/763), done.
fc@fc:~/catkin_ws/src$ # Clone the base skill set into the skiros2 directory in your catkin workspace.
fc@fc:~/catkin_ws/src$ git clone https://github.com/RVMI/skiros2_std_lib
Cloning into 'skiros2_std_lib'...
remote: Enumerating objects: 688, done.
remote: Counting objects: 100% (295/295), done.
remote: Compressing objects: 100% (84/84), done.
remote: Total 688 (delta 258), reused 235 (delta 211), pack-reused 393 (from 1)
Receiving objects: 100% (688/688), 110.51 KiB | 300.00 KiB/s, done.
Resolving deltas: 100% (417/417), done.
fc@fc:~/catkin_ws/src$ # Optionally, you can clone the skiros2_examples repositories here as well:
fc@fc:~/catkin_ws/src$ git clone https://github.com/RVMI/skiros2_examples
Cloning into 'skiros2_examples'...
remote: Enumerating objects: 164, done.
remote: Counting objects: 100% (164/164), done.
remote: Compressing objects: 100% (90/90), done.
remote: Total 164 (delta 92), reused 127 (delta 56), pack-reused 0 (from 0)
Receiving objects: 100% (164/164), 40.65 KiB | 190.00 KiB/s, done.
Resolving deltas: 100% (92/92), done.
fc@fc:~/catkin_ws/src$ rosdep install --from-paths . --ignore-src --rosdistro=$ROS_DISTRO -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
skiros2: [python-is-python3] defined as "not available" for OS version [bionic]
81c085a9-0dc2-437e-9f7a-6f10c69f1157-图片.png
回复: 【FishBot四驱V2】9.0.3. 主控板固件烧录与配置!d1171cdc-a0f2-4753-a357-0b7ddcd7b64f-图片.png
d0952888-eaf5-4efb-b7c2-584182eddc32-572165a685014f9646835c3fcc82f49.jpg
不知道为什么 一样的代码 第七章我运行rviz2的时候 地图成这样了
b站课程第三章3.4.2，我按照课程的代码敲完之后，做创建，直接报错，显示无法找到src/msg/SystemStatus.msg，但是我文件里面是创建的
2d8df550-bdaa-4388-affd-cea8d94fe135-3c84b889-5a1f-4cfb-a75d-21a25852bd8e.png
1，背景
运行以下命令时候出现的问题
sk@sk-virtual-machine:~$ 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$DISPLAY -p 8889:8888 registry.cn-hangzhou.aliyuncs.com/fishros/fishbot_laser
access control disabled, clients can connect from any host
欢迎鱼香ROS使用雷达驱动系统，注意当前版本为ROS2版本驱动哦~
2，历史
在此之前运行1：WIFI转串口测试时候一直等待TCP连接: 0.0.0.0:8888
sk@sk-virtual-machine:~$ 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$DISPLAY -p 8889:8888 registry.cn-hangzhou.aliyuncs.com/fishros/fishbot_laser
access control disabled, clients can connect from any host
欢迎鱼香ROS使用雷达驱动系统，注意当前版本为ROS2版本驱动哦~
和客服沟通后更换雷达和驱动板后，还是报如上错误。
但是我发现，重启后不运行nc -l 8889 ，直接运行WIFI转串口测试时候激光雷达能够连接
sk@sk-virtual-machine:~$ 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
access control disabled, clients can connect from any host
欢迎鱼香ROS使用雷达驱动系统，注意当前版本为ROS2版本驱动哦~
6.2.1
urdf_to_graphviz first_robot.urdf first_robot运行时报错
Error: Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0
at line 101 in ./urdf_parser/src/model.cpp
ERROR: Model Parsing the xml failed
现在在用slam_toolbox进行建图但是发现里程计走一段时间（10s）就会漂移，导致我无法建图要怎么办（是要修改哪些参数吗）!以下是我建图时的截图
c168b0f1-5875-4290-adb1-b5a87ae35b89-d1dbe63c5d6a49b418393d4032b4e22d.jpg
970da9ff-f16b-4acb-a1d9-b904e62629c9-c74e8d86d8c2e458b50a0fc987d60a33.jpg
错误信息：
问题描述：[在运行指令ros2 launch fishbot_description gazebo_sim.launch.py 加载gazebo模型时报错，地图能够正常加载，ros2 service list | grep controller指令输出内容与6.5.2课程一致]
错误信息：[gzserver-2] [INFO] [1747732192.143868178] [controller_manager]: Configuring controller 'fishbot_joint_state_broadcaster'
[gzserver-2] [INFO] [1747732192.144086737] [fishbot_joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2-5] Successfully loaded controller fishbot_joint_state_broadcaster into state active
[INFO] [ros2-5]: process has finished cleanly [pid 48739]
[INFO] [ros2-6]: process started with pid [48791]
[gzserver-2] [ERROR] [1747732193.055398508] [controller_manager]: The 'type' param was not defined for 'fishbot_diff_drive_controller'.
[ros2-6] Error loading controller, check controller_manager logs
[ERROR] [ros2-6]: process has died [pid 48791, exit code 1, cmd 'ros2 control load_controller --set-state active fishbot_diff_drive_controller'].
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():
# 获取默认路径
robot_name_in_model = "fishbot"
urdf_tutorial_path = get_package_share_directory('fishbot_description')
default_model_path = urdf_tutorial_path + '/urdf/fishbot/fishbot.urdf.xacro'
default_world_path = urdf_tutorial_path + '/world/custom_room.world'
# 为 Launch 声明参数
action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
name='model', default_value=str(default_model_path),
description='URDF 的绝对路径')
# 获取文件内容生成新的参数
robot_description = launch_ros.parameter_descriptions.ParameterValue(
launch.substitutions.Command(
['xacro ', launch.substitutions.LaunchConfiguration('model')]),
value_type=str)
controller_manager:
ros__parameters:
update_rate: 100 # Hz
use_sim_time: true
fishbot_effort_controller:
ros__parameters:
joints:
- left_wheel_joint
- right_wheel_joint
command_interfaces:
- effort
state_interfaces:
- position
- velocity
- effort
背景：
我在尝试使用fishbot based的机器人仿真框架进行多机navigation实例操作，当我单独加载任意机器人模型时，都能够正常启动，启动部分log如下：
381f701a-0531-457a-814b-872983c88972-image.png
从图中可以看出<robot_namespace>_diff_drive_controller和<robot_namespace>_joint_state_broadcaster都已经被正常发布，同时service和topic也都正常启动，机器人可以通过teleop_twist_keyboard命令正常运行。
当我在用一个gazebo仿真环境中加载成功第一个机器人后，我希望继续加载第二个机器人，这时，在启动机器人模型的过程中，load controller出现了问题，如下图红框所示：
ae1c2b98-e96d-431a-b8d8-fedcece530e7-image.png
我启动了namespace为scout_mini_1_的机器人节点，但是从图中可以看出，gazebo_ros2_control仍然试图从scout_mini_0_的namespace中进行控制器搜索，从而导致无法正确加载控制器配置文件，导致两个控制器服务器都发布失败。
###测试与尝试
我也尝试过使用统一namespace下的controller manager，通过定义不同名称的diff_drive_control来实现控制，但是在launch文件中由于加载机器人节点时也需要明确其namespace，导致controller manager实际上也会与namespace挂钩，从而加载失败，我的机器人加载代码如下：
我的gazebo控制插件代码如下：
<gazebo> <plugin filename="libgazebo_ros2_control.so" name="${robot_namespace}gazebo_ros2_control"> <parameters>$(find scout_mini_description)/config/${robot_namespace}.yaml</parameters> <ros> <namespace>${robot_namespace}</namespace> </ros> </plugin> </gazebo>此外，也尝试过手动启动服务，也无法成功运行，但是无论是否正确启动，controller相关的service都能够正常启动。个人推测是gazebo ros2 control插件默认会启动在第一个namespace下，但是不知道如何规避这个问题
ubuntu22.04，ROS2humble，在安装catkin时出现下面的冲突
12d8582d-4313-4961-af99-5a79ca4f8397-1747656625794.png
请问怎么解决，感谢
