截图 2025-08-05 18-13-59.png 截图 2025-08-05 18-14-25.png 截图 2025-08-05 18-14-25.png

fishbot四驱机器人V2的里程计和激光雷达数据在时间上有做同步吗？
如果时间上不同不，会影响到建图吗？
如果做了同步，请问是怎么做的时间同步的？

1、我现在遇到了 在设备上发布ROS2相机话题，本机可以顺畅的收到。局域网里的设备可以收到，但是非常卡顿，丢帧验证的问题。当减小到data大小为115200byte时，局域网也可以顺畅接收
2、发布端关键代码如下：
// 构造函数修改：添加NodeOptions设置DDS参数
CCameraPublisher::CCameraPublisher(std::string name)
: rclcpp::Node(
"Image_publisher_" + sanitizeNodeName(name),
// 配置节点选项，设置DDS参数
&{
rclcpp::NodeOptions options;
// 设置FastDDS最大消息大小（字节），4MB = 4194304
options.append_parameter_override("fastrtps.fragment_size", 1400); // 分片大小 < MTU（如1400，留足IP头空间）
options.append_parameter_override("rmw_fastrtps_max_message_size", 10 * 1024 * 1024); // 大于实际消息大小
// 发布端和订阅端均需添加：
options.append_parameter_override("fastrtps.sendBufferSize", 8 * 1024 * 1024); // 发送缓冲区8MB
options.append_parameter_override("fastrtps.receiveBufferSize", 8 * 1024 * 1024); // 接收缓冲区8MB
options.append_parameter_override("ros_network_receive_buffer_size", 10 * 1024 * 1024); // ROS层缓冲区
// 禁用DDS域名自动发现，避免多播冲突
options.append_parameter_override("rmw_fastrtps_discovery_servers", std::vectorstd::string());
return options;
}()
)
{
// QoS配置保持不变，但建议显式设置历史深度
auto qos = rclcpp::SensorDataQoS()
.keep_last(10) // 队列深度
.best_effort() // 尽力而为模式
.durability_volatile() // volatile耐用性（不存储历史数据）
.deadline(rclcpp::Duration(std::chrono::milliseconds(100))); // 使用std::chrono兼容方式.deadline(rclcpp::Duration(std::chrono::milliseconds(100))); // 使用std::chrono兼容方式

tztek_info("QoS配置: best_effort, keep_last(10)"); m_Publisher = this->create_publisher<sensor_msgs::msg::CompressedImage>(name, qos); m_strTopic = name;

}
bool CCameraPublisher::Publisher(unsigned char *data, int datalen, int64_t tv_sec, int64_t tv_usec)
{
sensor_msgs::msg::CompressedImage image_msg;
image_msg.header.stamp.sec = static_cast<int32_t>(tv_sec);
image_msg.header.stamp.nanosec = static_cast<uint32_t>(tv_usec);
image_msg.header.frame_id = m_strTopic; // 设置帧ID
image_msg.data.resize(datalen);
image_msg.format = "jpg";
std::memcpy(image_msg.data.data(), (unsigned char *)data, image_msg.data.size()); // 填充压缩后的图像数据
m_Publisher->publish(image_msg);
// 更新帧信息
new_frame_ts_ = TZTEK_GetTime();
diff_time_ = new_frame_ts_ - old_frame_ts_; // 单位

tztek_dbg("%d.%09d, 发布 %s,datalen:%d 间隔: %dms",
image_msg.header.stamp.sec,
image_msg.header.stamp.nanosec,
image_msg.header.frame_id.c_str(),datalen,
diff_time_);

old_frame_ts_ = new_frame_ts_;

return true;
}

3、订阅端关键代码如下：
CompressedImageSubscriber() :
Node(
"compressed_image_subscriber",
// 配置节点选项，与发布端保持一致的DDS参数
{
rclcpp::NodeOptions options;
// 设置与发布端相同的最大消息大小（4MB）
options.append_parameter_override("fastrtps.fragment_size", 1400); // 分片大小 < MTU（如1400，留足IP头空间）
options.append_parameter_override("rmw_fastrtps_max_message_size", 10 * 1024 * 1024); // 大于实际消息大小
// 发布端和订阅端均需添加：
options.append_parameter_override("fastrtps.sendBufferSize", 8 * 1024 * 1024); // 发送缓冲区8MB
options.append_parameter_override("fastrtps.receiveBufferSize", 8 * 1024 * 1024); // 接收缓冲区8MB
options.append_parameter_override("ros_network_receive_buffer_size", 10 * 1024 * 1024); // ROS层缓冲区
// 禁用自动发现服务器，减少网络干扰
options.append_parameter_override("rmw_fastrtps_discovery_servers", std::vectorstd::string());
return options;
}()
),
first_callback_(true)
{
// 创建订阅者，使用与发布端完全匹配的QoS配置
auto qos = rclcpp::SensorDataQoS()
.keep_last(10) // 队列深度10，与发布端一致
.best_effort() // 尽力而为可靠性，与发布端匹配
.durability_volatile() // 不存储历史数据，减少内存占用
.deadline(rclcpp::Duration(std::chrono::milliseconds(100))); // 使用std::chrono兼容方式

subscriber_ = this->create_subscription<sensor_msgs::msg::CompressedImage>( "/cam1/compressed", qos, // 使用匹配的QoS配置 std::bind(&CompressedImageSubscriber::image_callback, this, std::placeholders::_1) ); RCLCPP_INFO(this->get_logger(), "Compressed image subscriber initialized with DDS params"); RCLCPP_INFO(this->get_logger(), "Subscribing to topic: %s", "/cam1/compressed"); RCLCPP_INFO(this->get_logger(), "QoS configuration: best_effort, keep_last(10)"); }

4、这个数据的 Data size: 576000 bytes，这个尺寸会异常丢帧，但是如果我修改
image_msg.data.resize(datalen/5);
std::memcpy(image_msg.data.data(), (unsigned char *)data, image_msg.data.size()/5);
局域网的设备也可以顺畅接收
5、订阅端的回调函数仅仅是打印
6、请主要关注为啥局域网的设备是否顺畅，与data size有关
7、网络带宽为
[ 5] local 192.168.37.96 port 39468 connected to 192.168.37.167 port 5201
[ ID] Interval Transfer Bitrate Retr Cwnd
[ 5] 0.00-1.00 sec 12.0 MBytes 101 Mbits/sec 0 206 KBytes
8、发布端发布1路数据，帧率为12.5fps,订阅端仅仅订阅一路
9、局域网的订阅端带宽：
jixufang@jixufang-Latitude-5401:~/ros2_workspace$ ros2 topic bw cam1/compressed
Subscribed to [cam1/compressed]
2.88 MB/s from 4 messages
Message size mean: 0.58 MB min: 0.58 MB max: 0.58 MB
1.28 MB/s from 4 messages
Message size mean: 0.58 MB min: 0.58 MB max: 0.58 MB
10、本机的订阅端带宽：
root@hobot:/map/ywy/cam_b24cf85b# ros2 topic bw cam1/compressed
Subscribed to [cam1/compressed]
5.78 MB/s from 13 messages
Message size mean: 0.44 MB min: 0.44 MB max: 0.44 MB
5.51 MB/s from 25 messages
Message size mean: 0.44 MB min: 0.44 MB max: 0.44 MB
5.56 MB/s from 38 messages
Message size mean: 0.44 MB min: 0.44 MB max: 0.44 MB

11、scp测试丢包情况：
root@hobot:/map/ywy/cam_b24cf85b# dd if=/dev/zero of=test.bin bs=576000 count=100
100+0 records in
100+0 records out
57600000 bytes (58 MB, 55 MiB) copied, 0.0404203 s, 1.4 GB/s
root@hobot:/map/ywy/cam_b24cf85b# ls
case_tztek cfg demo init_env.sh J6_Cam_User_Guide_V1.0.pdf test.bin tools tztek_camera.sh version
root@hobot:/map/ywy/cam_b24cf85b# scp test.bin jixufang@192.168.37.96:~/
Warning: Permanently added '192.168.37.96' (ED25519) to the list of known hosts.
jixufang@192.168.37.96's password:
test.bin 没看出来丢包

wzy@DESKTOP-AOGOC7F:~/ws_moveit2$ ros2 launch moveit2_tutorials demo.launch.py
[INFO] [launch]: All log files can be found below /home/wzy/.ros/log/2025-08-02-09-38-00-675071-DESKTOP-AOGOC7F-27823
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [27824]
[INFO] [static_transform_publisher-2]: process started with pid [27826]
[INFO] [robot_state_publisher-3]: process started with pid [27828]
[INFO] [move_group-4]: process started with pid [27830]
[INFO] [ros2_control_node-5]: process started with pid [27832]
[INFO] [spawner-6]: process started with pid [27834]
[INFO] [spawner-7]: process started with pid [27836]
[INFO] [spawner-8]: process started with pid [27838]
[static_transform_publisher-2] [WARN] [1754098680.948028663] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1754098680.982169551] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'world' to 'panda_link0'
[robot_state_publisher-3] [INFO] [1754098681.018522512] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-3] [INFO] [1754098681.018726372] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-3] [INFO] [1754098681.018737042] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-3] [INFO] [1754098681.018742690] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-3] [INFO] [1754098681.018747510] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-3] [INFO] [1754098681.018752171] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-3] [INFO] [1754098681.018757723] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-3] [INFO] [1754098681.018762458] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-3] [INFO] [1754098681.018767225] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-3] [INFO] [1754098681.018771981] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-3] [INFO] [1754098681.018776685] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-3] [INFO] [1754098681.018781409] [robot_state_publisher]: got segment panda_rightfinger
[ros2_control_node-5] [WARN] [1754098681.025856905] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-5] [INFO] [1754098681.026141049] [resource_manager]: Loading hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027842303] [resource_manager]: Initialize hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027915165] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027931621] [resource_manager]: Loading hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027939477] [resource_manager]: Initialize hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027947482] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027976540] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027981912] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027985447] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027989407] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027992411] [resource_manager]: 'configure' hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027995490] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027999716] [resource_manager]: 'activate' hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.028002784] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.034155736] [controller_manager]: update rate is 100 Hz
[ros2_control_node-5] [INFO] [1754098681.034214457] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-5] [WARN] [1754098681.034386819] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[move_group-4] [INFO] [1754098681.078095853] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0255684 seconds
[move_group-4] [INFO] [1754098681.078675744] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[move_group-4] [INFO] [1754098681.159887565] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1754098681.160116226] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-4] [INFO] [1754098681.162039400] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-4] [INFO] [1754098681.162783887] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-4] [INFO] [1754098681.162818359] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1754098681.163241146] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-4] [INFO] [1754098681.163270066] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1754098681.163695220] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1754098681.164021427] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1754098681.167018499] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [ERROR] [1754098681.167064034] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-4] [INFO] [1754098681.168733346] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-4] [INFO] [1754098681.211638444] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[ros2_control_node-5] [INFO] [1754098681.220138025] [controller_manager]: Loading controller 'joint_state_broadcaster'
[move_group-4] [INFO] [1754098681.220852886] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1754098681.220880861] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1754098681.220885140] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1754098681.220908528] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1754098681.220917648] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1754098681.220922362] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.220929114] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.220933191] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1754098681.220944635] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1754098681.220951632] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1754098681.220956643] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-4] [INFO] [1754098681.220959223] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1754098681.220961888] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1754098681.220964287] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1754098681.220966792] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [INFO] [1754098681.225317516] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[ros2_control_node-5] [INFO] [1754098681.235021707] [controller_manager]: Loading controller 'panda_arm_controller'
[move_group-4] [INFO] [1754098681.239313157] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP'
[move_group-4] [INFO] [1754098681.244663501] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1754098681.244708580] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1754098681.244714472] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1754098681.244730843] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1754098681.244744931] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1754098681.244750070] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.244760039] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.244765007] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1754098681.244770836] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1754098681.244780921] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1754098681.244785540] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1754098681.244789277] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1754098681.244792610] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1754098681.244796390] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [INFO] [1754098681.246144820] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[spawner-6] [INFO] [1754098681.253890689] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[move_group-4] [INFO] [1754098681.257121138] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-4] [WARN] [1754098681.258871006] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
[move_group-4] [WARN] [1754098681.258911933] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
[ros2_control_node-5] [WARN] [1754098681.259039619] [panda_arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2_control_node-5] [INFO] [1754098681.264976958] [controller_manager]: Loading controller 'panda_hand_controller'
[move_group-4] [INFO] [1754098681.268577785] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-4] [INFO] [1754098681.268612215] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-4] [INFO] [1754098681.272577957] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-4] [INFO] [1754098681.272618693] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-4] [INFO] [1754098681.274551799] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-4] [INFO] [1754098681.274577013] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-4] [INFO] [1754098681.276563181] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-4] [INFO] [1754098681.276630936] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[spawner-7] [INFO] [1754098681.279872189] [spawner_panda_arm_controller]: Loaded panda_arm_controller
[move_group-4] [INFO] [1754098681.281572348] [moveit_ros.fix_workspace_bounds]: Param 'pilz_industrial_motion_planner.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1754098681.281615441] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_bounds_error' was not set. Using default value: 0.050000
[move_group-4] [INFO] [1754098681.281641781] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.281656825] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.281660870] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1754098681.281666019] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1754098681.281673578] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1754098681.281677581] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1754098681.281680160] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1754098681.281682815] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[ros2_control_node-5] [INFO] [1754098681.284886675] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1754098681.285011676] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-5] [INFO] [1754098681.295113767] [controller_manager]: Configuring controller 'panda_arm_controller'
[ros2_control_node-5] [INFO] [1754098681.295307382] [panda_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-5] [INFO] [1754098681.295334232] [panda_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-5] [INFO] [1754098681.295371273] [panda_arm_controller]: Using 'splines' interpolation method.
[ros2_control_node-5] [INFO] [1754098681.296666165] [panda_arm_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-5] [INFO] [1754098681.299208427] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-8] [INFO] [1754098681.302633400] [spawner_panda_hand_controller]: Loaded panda_hand_controller
[ros2_control_node-5] [INFO] [1754098681.314797380] [controller_manager]: Configuring controller 'panda_hand_controller'
[ros2_control_node-5] [INFO] [1754098681.314898344] [panda_hand_controller]: Action status changes will be monitored at 20.000000 Hz.
[move_group-4] [INFO] [1754098681.340365531] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
[move_group-4] [INFO] [1754098681.340436450] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-4] [INFO] [1754098681.343265394] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller
[move_group-4] [INFO] [1754098681.343448181] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-4] [INFO] [1754098681.343482037] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-4] [INFO] [1754098681.344029485] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-4] [INFO] [1754098681.344054030] [move_group.move_group]: MoveGroup debug mode is ON
[spawner-7] [INFO] [1754098681.345556897] [spawner_panda_arm_controller]: Configured and activated panda_arm_controller
[spawner-8] [INFO] [1754098681.365403658] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller
[move_group-4] [INFO] [1754098681.373568953] [move_group.move_group]:
[move_group-4]
[move_group-4] ********************************************************
[move_group-4] * MoveGroup using:
[move_group-4] * - ApplyPlanningSceneService
[move_group-4] * - ClearOctomapService
[move_group-4] * - CartesianPathService
[move_group-4] * - ExecuteTrajectoryAction
[move_group-4] * - GetPlanningSceneService
[move_group-4] * - KinematicsService
[move_group-4] * - MoveAction
[move_group-4] * - MotionPlanService
[move_group-4] * - QueryPlannersService
[move_group-4] * - StateValidationService
[move_group-4] ********************************************************
[move_group-4]
[move_group-4] [INFO] [1754098681.373633024] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-4] [INFO] [1754098681.373640361] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-4] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-4] Loading 'move_group/ClearOctomapService'...
[move_group-4] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-4] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-4] Loading 'move_group/MoveGroupMoveAction'...
[move_group-4] Loading 'move_group/MoveGroupPlanService'...
[move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-4] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-4]
[move_group-4] You can start planning now!
[move_group-4]
[spawner-6] [INFO] [1754098681.395830899] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-7]: process has finished cleanly [pid 27836]
[INFO] [spawner-8]: process has finished cleanly [pid 27838]
[INFO] [spawner-6]: process has finished cleanly [pid 27834]
[rviz2-1] [INFO] [1754098682.876993663] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1754098682.877202779] [rviz2]: OpenGl version: 4.2 (GLSL 4.2)
[rviz2-1] [INFO] [1754098682.939618229] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [ERROR] [1754098684.391233886] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1754098684.416077505] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1754098684.439471913] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.019429 seconds
[rviz2-1] [INFO] [1754098684.439552867] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [INFO] [1754098684.924842025] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0057921 seconds
[rviz2-1] [INFO] [1754098684.924890851] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [INFO] [1754098685.030988045] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1754098685.031812303] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1754098685.033134825] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1754098685.034485947] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1754098685.046524906] [interactive_marker_display_109031445708608]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [INFO] [1754098685.056351081] [moveit_ros_visualization.motion_planning_frame]: group panda_arm
[rviz2-1] [INFO] [1754098685.056388669] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'panda_arm' in namespace ''
[rviz2-1] [INFO] [1754098685.068290581] [move_group_interface]: Ready to take commands for planning group panda_arm.
[rviz2-1] [INFO] [1754098685.069730020] [interactive_marker_display_109031445708608]: Sending request for interactive markers
[rviz2-1] [INFO] [1754098685.093844896] [interactive_marker_display_109031445708608]: Service response received for initialization
整个运行信息看着是正常的。有朋友遇到这个问题吗，是怎么解决的

0caaca3f-f361-45bc-91ba-14684f4604cc-image.png c4b71b08-7d03-4dc5-8e2c-63aa1bbdaa28-image.png

问题描述：

出现了如图所示的报错
[ERROR] [1753779025.670329548] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
active samplers with a different type refer to the same texture image unit
，此后自己在进行仿真建图时，出现的地图如图二所示很杂乱

具体细节和上下文：

在准备好gazebo环境，使用命令行ros2 launch slam_box online_async_launch.py use_sim_time:=True
后，再打开rviz2开始map插件，并将topic话题选择/map过后，便出现了如图所示的报错，此后自己在进行仿真建图时，出现的地图如图二所示很杂乱 ，而且地图更新的很慢

尝试过的解决方法：

自己后来根据ai的解决方案，排除了环境的原因也尝试重新安装rviz2，且采用强制兼容的模式MESA_GL_VERSION_OVERRIDE=3.3，也没能解决

[ERROR] [1753779025.670329548] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
active samplers with a different type refer to the same texture image unit

问题描述：

在安装的navigation2中没有nav2_simple_commander这个命令，from nav2_simple_commander.robot_navigator import BasicNavigator输入该行代码时，下面一直有波浪线，下载navigation2也是跟着教程下载的，我的版本是foxy。

具体细节和上下文：

这是终端提示的错误：Traceback (most recent call last):
File "/home/ros2/chapt7/chapt7_ws/install/fishbot_application/lib/fishbot_application/init_robot_pose", line 11, in <module>
load_entry_point('fishbot-application==0.0.0', 'console_scripts', 'init_robot_pose')()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point
return get_distribution(dist).load_entry_point(group, name)
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point
return ep.load()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load
return self.resolve()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve
module = import(self.module_name, fromlist=['name'], level=0)
File "/home/ros2/chapt7/chapt7_ws/install/fishbot_application/lib/python3.8/site-packages/fishbot_application/init_robot_pose.py", line 2, in <module>
from nav2_simple_commander.robot_navigator import BasicNavigator
ModuleNotFoundError: No module named 'nav2_simple_commander'

尝试过的解决方法：

重新克隆nav2包，但还是不行。

9.33pid控制电机出现震荡，跟鱼哥的kp差挺多 背景：代码都校对过了是一样的，小车是鱼哥的两轮小车，硬件都一样，kp跟鱼哥一样是0.625，ki0.125，kd0.0，但就会震荡，具体表现为轮子快速正转后反转，始终无法自调到100，kp降到0.4，就好了，求解决 调试： 自己调pid 亲测只有<0.45左右才不会出现震荡的情况，且没报错，只要kp<0.45，pid就能很快调到100 疑问：怀疑是否虽然是同一个硬件，但是硬件有微小差异，导致0.625用不了，虽然同一小车，但是具体kp 多少还得自己调出来 ros2新人，以下为代码求解答 #include <Arduino.h> #include <Esp32PcntEncoder.h> #include <Esp32McpwmMotor.h> #include <PidController.h> Esp32PcntEncoder encoders[2]; // 创建一个数组用于存储两个编码器 Esp32McpwmMotor motors; PidController pid_controller[2]; int32_t last_tick[2] = {0, 0}; int32_t delta_tick[2] = {0, 0}; uint32_t last_update_time = 0; float current_speed[2] = {0, 0}; void setup() { // 1.初始化串口 Serial.begin(115200); // 初始化串口通信，设置通信速率为115200 motors.attachMotor(0, 22, 23); // 将电机0连接到引脚 motors.attachMotor(1, 12, 13); // 将电机1连接到引脚 // 2.设置编码器 encoders[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接 encoders[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接 // motors.updateMotorSpeed(0,50); //设置两个电机pwm占空比 // motors.updateMotorSpeed(1,50); // piccontroller参数 初始化 pid_controller[0].update_pid(0.425, 0.125, 0.0); // 设置PID参数 kp ki kd pid_controller[1].update_pid(0.425, 0.125, 0.0); // pid_controller[0].out_limit(-100, 100); pid_controller[1].out_limit(-100, 100); pid_controller[0].update_target(100); // 使用mm/s为单位，为了提高精度 pid_controller[1].update_target(100); // } // 用于控制电机的速度/闭环控制pid void motorSpeedControl() { // 计算tick差 delta_tick[0] = encoders[0].getTicks() - last_tick[0]; delta_tick[1] = encoders[1].getTicks() - last_tick[1]; // 计算速度 dt为毫秒 毫米/毫秒 -> 毫米/秒 int16_t dt = millis() - last_update_time; current_speed[0] = (delta_tick[0] * 0.105805) * 1000 / dt; //mm/s current_speed[1] = (delta_tick[1] * 0.105805) * 1000 / dt; //mm/s // 调用pid，获取动态的输出值 motors.updateMotorSpeed(0, pid_controller[0].update(current_speed[0])); motors.updateMotorSpeed(1, pid_controller[1].update(current_speed[1])); // // 打印距离 // Serial.printf("左轮已行驶路程距离=%f cm ", (encoders[0].getTicks()) * 0.105849 / 10); // delay(100); // Serial.printf("右轮已行驶路程距离=%f cm ", (encoders[1].getTicks()) * 0.105849 / 10); // delay(100); // 打印速度 last_tick[0] = encoders[0].getTicks(); last_tick[1] = encoders[1].getTicks(); last_update_time = millis(); } void loop() { delay(10); // 等待10毫秒 motorSpeedControl(); Serial.printf("左轮实时速度=%f m/s", current_speed[0]/1000);//mm/s->m/s delay(100); Serial.printf("右轮实时速度=%f m/s\n", current_speed[1]/1000); delay(100); }

45c742d2-d58b-488c-a87c-c339a826d78f-image.png 这是什么问题，建图时候有错误吗？还是在设置属性时有错误

屏幕截图 2025-07-26 104436.png主控节点使用树莓派5安装的jazzy版本，机械臂为humble版本，我在连接机械臂的时候发现能找到动作但是查找不到节点，求解答

手动添加环境变量
7bab8f1a-bc1a-4c98-a9ca-845c15d5c177-image.png
source添加环境变量
c6cd6eb5-01ef-4f56-bbf0-8a9d70053a5b-image.png

我想用机器人做给定角度的旋转，下面是我的代码

void Motor::spin_with_angle(float angle, int speed_ratio, bool clockwise) { spin_mode(speed_ratio, clockwise); if(!clockwise){ angle = -angle; // If not clockwise, reverse the angle } Serial.printf("Spinning with angle: %.2f degrees, speed: %d, clockwise: %d\n", angle, speed_ratio, clockwise); imu.mpu.update(); // Update the IMU data float present_angle = imu.getAngle('z'); // Get the current angle from the IMU float target_angle = _calTargetAngle(angle, present_angle); // Calculate the target angle printf("Current angle: %.2f, Target angle: %.2f\n", imu.getAngle('z'), target_angle); while( clockwise ? imu.getAngle() < target_angle : imu.getAngle() > target_angle ) { printf("Current angle: %.2f, Target angle: %.2f\n", imu.getAngle('z'), target_angle); // Continuously check the angle until the target angle is reached delay(10); imu.mpu.update(); // Update the IMU data } spin_mode(0, true); // Stop the motors after reaching the target angle // Implement the actual spinning logic here }

他的逻辑很简单，就是先算当前角跟目标角，然后开始转，并持续跟踪，等到到达后就停止，但结果我发现无论怎么设置，甚至我人为给目标角加上一个修正项（大概-20°），他还是会在我设置90度时转动到100多度，我测试下是每10次90°旋转大概转3圈（这个还挺精准的，我试过多次，都是大概10次3圈，相差不会大于+-10°），也就是每次大约都会转108°，即使我设置让他转70°，他还是会转这么多。这有什么解决的办法吗

我把mpu封装到了Imu类里，这个类只有一个mpu的实例和一些函数的简单再封装，而Motor类就定义了一些操作马达的函数，spin_mode就是设置pwmratio和顺时针还是逆时针。

我比较希望有离线的方案，因为我需要用到的测试软件只能在windows下用，但如果要无线链接又得用linux版本，而且我期望的测试目标是绕一个固定的路线，所以期望他的旋转角能精度比较高。

这是我在将宇树四足机器人go2的ros1开源代码移植到ros2时遇到的问题。

造成这个问题的原因是，在ros2的launch启动文件中，写入了加载控制器节点，但是ros2的controller_manager在搜索控制器时却搜索不到。所以解决本问题的思路是如何让controller_manager知道在哪搜索控制器。

1）新建xacro文件，添加ros2_control标签，并在标签中定义控制器，并加入你的yaml文件路径。注：如果你也是ros1移植ros2，要注意ros1定义控制器的标签是transmission，在ros2中已经替换成了ros2_control标签，你需要将transmission标签换成ros2_control标签，包括里面的内容也可能需要修改

<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <!-- 声明宏 --> <xacro:macro name="your_controller" params="name"> <!-- 需要替换成你的名字，可随便起 --> <ros2_control name="your_hardware_interface" type="system"> <!-- 需要替换成你的名字，可随便起 --> <hardware> <plugin>gazebo_ros2_control/GazeboSystem</plugin> </hardware> <joint name= "your_joint"> <!-- 需要替换成你的名字，需与模型文件里的关节名一致 --> <!-- 命令接口：力矩控制 --> <command_interface name="effort"> <param name="min">-10.0</param> <!-- 实际值需根据电机调整 --> <param name="max">10.0</param> <!-- 单位：牛顿米(N·m) --> </command_interface> <!-- 状态反馈接口 --> <state_interface name="position"/> <!-- 关节位置 --> <state_interface name="velocity"/> <!-- 关节速度 --> <state_interface name="effort"/> <!-- 关节力矩 --> </joint> </ros2_control> </xacro:macro> <gazebo> <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> <parameters>$(find your_pkg)/config/your_config.yaml</parameters> <!-- 需要替换成你的包名和路径 --> </plugin> </gazebo> </robot>

2）修改yaml文件格式，确保格式正确

controller_manager: ros__parameters: update_rate: 100 # Hz use_sim_time: true # 控制器列表及类型 joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster your_controller: type: unitree_legged_control/UnitreeJointController # 各个控制器的具体配置 joint_state_broadcaster: ros__parameters: # No specific parameters needed for the broadcaster usually update_rate: 1000 # FL Controllers Parameters your_controller: ros__parameters: joint: your_joint command_interfaces: - effort state_interfaces: - effort - position - velocity #!!!your_controller名字需一致

3）如果你也是ros1迁移ros2，需要注意在xacro文件里的很多插件，如gazebo_ros_control，是ros1提供的插件，但是在ros2中是不能使用的，所以需要对其注释掉或者修改

问题

按照“9.0.3. 主控板固件烧录与配置”视频，小车无法连接到agent。

实验环境

windows 11，WSL安装的是ubuntu 22.03，WSL采用Mirrored网络，因此Ubuntu和宿主机的IP一样。

WSL的网络 fishros@LAPTOP-OCE4580C:~/chapt9/fishbot_ws/src$ ifconfig eth2: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.1.14 netmask 255.255.255.0 broadcast 192.168.1.255 inet6 2409:8a0c:862:9280:ecc:6923:90e6:bb9 prefixlen 64 scopeid 0x0<global> inet6 fe80::55de:f616:7b72:2a2 prefixlen 64 scopeid 0x20<link> inet6 2409:8a0c:862:9280:e048:414d:34e1:141 prefixlen 128 scopeid 0x0<global> ether ec:4c:8c:0d:e5:94 txqueuelen 1000 (以太网) RX packets 49946 bytes 46044245 (46.0 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 3682 bytes 386413 (386.4 KB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536 inet 127.0.0.1 netmask 255.0.0.0 inet6 ::1 prefixlen 128 scopeid 0x10<host> loop txqueuelen 1000 (本地环回) RX packets 163 bytes 19865 (19.8 KB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 163 bytes 19865 (19.8 KB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 loopback0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 ether 00:15:5d:d0:2a:f2 txqueuelen 1000 (以太网) RX packets 2730287 bytes 1746520738 (1.7 GB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 1297832 bytes 830875329 (830.8 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 fishros@LAPTOP-OCE4580C:~/chapt9/fishbot_ws/src$ 宿主机网络 无线局域网适配器 WLAN: 连接特定的 DNS 后缀 . . . . . . . : IPv6 地址 . . . . . . . . . . . . : 2409:8a0c:862:9280:ecc:6923:90e6:bb9 临时 IPv6 地址. . . . . . . . . . : 2409:8a0c:862:9280:e048:414d:34e1:141 本地链接 IPv6 地址. . . . . . . . : fe80::55de:f616:7b72:2a2%19 IPv4 地址 . . . . . . . . . . . . : 192.168.1.14 子网掩码 . . . . . . . . . . . . : 255.255.255.0 默认网关. . . . . . . . . . . . . : fe80::1%19 192.168.1.1 以太网适配器 蓝牙网络连接: 媒体状态 . . . . . . . . . . . . : 媒体已断开连接 连接特定的 DNS 后缀 . . . . . . . : 以太网适配器 vEthernet (WSL (Hyper-V firewall)): 连接特定的 DNS 后缀 . . . . . . . : 本地链接 IPv6 地址. . . . . . . . : fe80::f274:6963:ff03:8ecf%46 IPv4 地址 . . . . . . . . . . . . : 172.26.144.1 子网掩码 . . . . . . . . . . . . : 255.255.240.0 默认网关. . . . . . . . . . . . . : PS C:\Windows\system32>

e90a62f5-367a-4b71-8cb7-ac2bd24402a5.png

小车网络

微信图片_2025-07-28_222626_277.jpg

agent无接受数据现象 fishros@LAPTOP-OCE4580C:~/chapt9/fishbot_ws/src$ ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 [1753711679.022870] info | UDPv4AgentLinux.cpp | init | running... | port: 8888 [1753711679.023137] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4

问题已按照https://fishros.org.cn/forum/post/15555修改无效

import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
#import os
import launch_ros.parameter_descriptions
#import urdf_tutorial_path

def generate_launch_description():

#获取默认的urdf urdf_package_path = get_package_share_directory('fishbot_description') #default_urdf_path = os.path.join(urdf_package_path,'urdf','first_robot.urdf' default_model_path = urdf_package_path + '/urdf/first_robot.urdf' #为launch申明参数， 声明一个urdf目录的参数，方便修改 action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument( name='model',default_value=str(default_model_path),description='URDF的绝对路径' ) #通过文件路径，获取内容，并转换成参数对象，以供转入 robot_state_publisher robot_description =launch_ros.parameter_descriptions.ParameterValue(launch.substitutions.Command(['cat ',launch.substitutions.LaunchConfiguration('model')]),value_type=str) #状态发布节点 robot_state_publisher_node = launch_ros.actions.Node( package='robot_state_publishers', executable='robot_state_publisher', parameters=[{'robot_description':robot_description}]) #关节状态发布节点 joint_state_publisher_node = launch_ros.actions.Node( package='joint_state_publisher', executable='joint_state_publisher') #rviz节点 rviz_node = launch_ros.actions.Node(package='rviz2', executable='rviz2') return launch.LaunchDescription([action_declare_arg_mode_path, joint_state_publisher_node, robot_state_publisher_node, rviz_node])

报错内容如下，无论是update还是--fix-missing都没有
joshua@DESKTOP-UVEAJD2:~$ sudo apt install ros-humble-joint-state-publisher
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following NEW packages will be installed:
ros-humble-joint-state-publisher
0 upgraded, 1 newly installed, 0 to remove and 362 not upgraded.
Need to get 16.1 kB of archives.
After this operation, 68.6 kB of additional disk space will be used.
Err:1 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-joint-state-publisher amd64 2.4.0-1jammy.20250429.192014
404 Not Found [IP: 101.6.15.130 80]
E: Failed to fetch http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/pool/main/r/ros-humble-joint-state-publisher/ros-humble-joint-state-publisher_2.4.0-1jammy.20250429.192014_amd64.deb 404 Not Found [IP: 101.6.15.130 80]
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

使用鱼香ROS雷达驱动系统时候，进行WIFI转串口测试，一直连接不上，发现TCP端口是8888,但教程资料中都是8889
ca9deb89-f284-4db2-939f-6ac25b0a046d-图片.png
雷达数据可以正常读取
2cca4e5f-fdea-4425-a6f9-54170d735caf-9fb43ee6009e4017ab24a3af7e97618b.jpg file:///home/zmy/文档/xwechat_files/wxid_tpb3or8y3jxo22_a70e/temp/2025-07/RWTemp/9fb43ee6009e4017ab24a3af7e97618b.jpg

环境信息

ros2版本：humble
硬件环境：jetson nano aarch64
nav2版本：https://github.com/ros-navigation/navigation2.git（humble分支）

问题

由于没有aarch64平台的nav2，所以自行编译了nav2，下载了gazebo_ros_pkgs和navigation2两个包，编译后运行官方示例，发现gazebo和riviz都正常启动，但是gazebo的激光雷达线束并没有展示出来

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

2574beb3-4b21-4cd8-8a36-e32116884f6c-image.png

已经做过的排查

查看具体的报错信息，发现是BT没有正常启动导致的

[component_container_isolated-6] [ERROR] [1753415761.365097867] [bt_navigator_navigate_through_poses_rclcpp_node]: "global_costmap/clear_entirely_global_costmap" service server not available after waiting for 1.00s [component_container_isolated-6] [ERROR] [1753415761.386311404] [bt_navigator]: Exception when loading BT: basic_string::_M_create [component_container_isolated-6] [ERROR] [1753415761.386476140] [bt_navigator]: Error loading XML file: /home/jetson/nav2_ws/install/nav2_bt_navigator/share/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml [component_container_isolated-6] [ERROR] [1753415761.387238416] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator [component_container_isolated-6] [ERROR] [1753415761.387296976] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

继续往上看报错，出现下面两个报错

[component_container_isolated-6] [INFO] [1753415759.176987019] [global_costmap.global_costmap]: Using plugin "static_layer" [component_container_isolated-6] [ERROR] [1753415759.177916112] [global_costmap.global_costmap]: Caught exception in callback for transition 10 [component_container_isolated-6] [ERROR] [1753415759.177983088] [global_costmap.global_costmap]: Original error: MultiLibraryClassLoader: Could not create object of class type nav2_costmap_2d::StaticLayer as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-6] [WARN] [1753415759.178028976] [global_costmap.global_costmap]: Error occurred while doing error handling. [component_container_isolated-6] [FATAL] [1753415759.178051248] [global_costmap.global_costmap]: Lifecycle node global_costmap does not have error state implemented

和

[component_container_isolated-6] [INFO] [1753415758.973267963] [local_costmap.local_costmap]: Using plugin "voxel_layer" [component_container_isolated-6] [ERROR] [1753415758.980190369] [local_costmap.local_costmap]: Caught exception in callback for transition 10 [component_container_isolated-6] [ERROR] [1753415758.980297794] [local_costmap.local_costmap]: Original error: MultiLibraryClassLoader: Could not create object of class type nav2_costmap_2d::VoxelLayer as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-6] [WARN] [1753415758.980353666] [local_costmap.local_costmap]: Error occurred while doing error handling. [component_container_isolated-6] [FATAL] [1753415758.980392482] [local_costmap.local_costmap]: Lifecycle node local_costmap does not have error state implemented

这两个插件刚好是配置文件里面local_costmap和global_costmap的第一个要加载的插件，怀疑是这两个动态库没有编译成功，看了CMakeLists，这两个库放在叫做liblayers.so的动态链接库里面，查找后可以找到这个动态链接库

./install/nav2_costmap_2d/lib/liblayers.so

用ldd命令查看这个动态链接库是否加载成功，发现是正常加载的，然后用nm的方式去找，也能找到VoxelLayer和StaticLayer的符号，证明这个动态链接库是没问题的，然后就去找动态库的路径是否有放在LD_LIBRARY_PATH里面，发现也是有的，后面写了个简单的demo去加载VoxelLayer和StaticLayer，发现也是正常加载，但是运行官方示例就没办法加载这两个插件，导致整个项目运行不起来，实在想不通是为什么

测试加载插件的程序 #include <pluginlib/class_loader.hpp> #include <nav2_costmap_2d/layer.hpp> #include <rclcpp/rclcpp.hpp> #include <iostream> int main(int argc, char** argv) { rclcpp::init(argc, argv); try { // 创建插件加载器 pluginlib::ClassLoader<nav2_costmap_2d::Layer> loader("nav2_costmap_2d", "nav2_costmap_2d::Layer"); std::cout << "插件加载器创建成功" << std::endl; // 获取所有可用的插件类 std::vector<std::string> classes = loader.getDeclaredClasses(); std::cout << "可用的插件类:" << std::endl; for (const auto& cls : classes) { std::cout << " - " << cls << std::endl; } // 专门测试VoxelLayer插件 std::cout << "\n专门测试 VoxelLayer 插件..." << std::endl; // 检查VoxelLayer是否在可用类列表中 bool found = false; for (const auto& cls : classes) { if (cls == "nav2_costmap_2d::VoxelLayer") { found = true; break; } } if (!found) { std::cerr << "错误: VoxelLayer 不在可用插件列表中!" << std::endl; return 1; } std::cout << "VoxelLayer 在可用插件列表中" << std::endl; // 尝试加载VoxelLayer插件 std::cout << "尝试创建 VoxelLayer 实例..." << std::endl; std::shared_ptr<nav2_costmap_2d::Layer> voxel_layer = loader.createSharedInstance("nav2_costmap_2d::VoxelLayer"); std::cout << "VoxelLayer 插件加载成功!" << std::endl; // 检查插件类型 std::cout << "插件类型: " << typeid(*voxel_layer).name() << std::endl; std::cout << "\nVoxelLayer 插件测试通过!" << std::endl; } catch (const pluginlib::PluginlibException& e) { std::cerr << "插件加载错误: " << e.what() << std::endl; return 1; } catch (const std::exception& e) { std::cerr << "其他错误: " << e.what() << std::endl; return 1; } rclcpp::shutdown(); return 0; }

求问大佬们 在虚拟机上装了ros2+ groot 要实现apm相关飞行仿真 怎么实现ros2和groot的通信呢

目前可以在ros中打开groot，解锁后可以拖动行为树相关的节点，但是没有找到咋运行拖动后的文档，怎么让ros2里面实现通过直接拖动行为树来模拟仿真飞行
c3fc8201-7ebf-4efb-b71a-f1bcc4da1b28-image.png

这个问题怎么解决啊284273dc-65b5-48a9-ace8-1956f6bccee1-image.png这个是cmake的934ddaab-742c-4ff2-ad8b-75b23dd7922f-image.png