大家好，请问在使用ROS2做机械臂开发的时候，机械臂厂家给的.STP文件和真实机械臂存在出入，具体为：.STP模型中的零件之间的两个接触面非平行面，导致装配不起来，从而没办法从solidworks中导出urdf。请问这种情况应该怎么办
cef63a59-3437-43cf-a505-fbdd51eb14e6-6c065a23475369343aaad2ea848ca989.png
73ea4afc-5e43-44a1-9b6e-0dedce2ded8f-afb3d7466d39869c69b7b85d891e1177.png

Traceback (most recent call last):
File "/tmp/fishinstall/install.py", line 134, in <module>
main()
File "/tmp/fishinstall/install.py", line 123, in main
run_tool_file(tools[code]['tool'].replace("/","."))
File "/tmp/fishinstall/tools/base.py", line 1478, in run_tool_file
if tool.run()==False: return False
File "/tmp/fishinstall/tools/tool_config_rosdep.py", line 94, in run
self.install_rosdepc()
File "/tmp/fishinstall/tools/tool_config_rosdep.py", line 85, in install_rosdepc
PrintUtils.print_warning("安装失败，尝试使用其他方式安装...")
AttributeError: type object 'PrintUtils' has no attribute 'print_warning'

在使用Brideg网络模式的容器中运行Fetch机器人仿真，会有警告：
TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent odom) at time 1235.201000 according to authority unknown_publisher
以下是部分信息：

目前我在进行一个机械臂控制的项目，我通过ros2_control给机械臂写了硬件组件，控制器方面使用了JTC，已经可以正常通过话题来控制机械臂舵机角度了。接着我开始尝试在真机中使用moveit2。

但是我在同时运行moveit2生成的功能包中的demo.launch.py和我用ros2_control控制的机械臂的相关节点后，机械臂和rviz2中显示的机械臂开始抽搐。通过搜索发现是因为demo.launch.py中也会运行controller_mananger节点，这就跟我用ros2_control控制机械臂中的controller_manager冲突了，我想知道如何可以整合这两个，或者在哪里可以找到相关资料

以下是我moveit2生成的功能包和ros2_control控制的功能包
09ce76c9-3358-49ca-b397-450bd9016dbc-image.png
79a84a53-27be-43d3-9075-299fcedf3f34-image.png

我尝试过单独运行move_group.launch.py、moveit_rviz.launch.py以及控制相关节点，会出现以下问题。
0bc19c4a-cff0-43f1-a5e1-c058c4686d5b-image.png
80e5355e-2922-421a-98b4-5bb884fe1c2e-image.png

现有一台雷达驱动，放在Ubuntu2204（Humble）上运行正常，但是因为一些原因需要在Ubuntu2004（Foxy）上运行。
目前驱动可以正常运行，但是初次运行时，通过ros2 topic list无法显示话题，网上搜索后，修改了package.xml和CMakeLists.txt文件，编译运行后，执行ros2 topic list可以显示话题，但是使用rviz2里找不到雷达话题。
目前的情况为：
执行ros2 node info /节点后，可以明显看到Publishers里有雷达话题；
执行ros2 topic echo /话题 ，无数据显示出来。

因为一些原因无法上传图片，小白想了解一下，出现上述问题的可能情况，以及在humble的驱动移植到foxy上需要注意哪些情况？

感谢各位大佬的查看，如果可以帮忙那将感激不尽。

yingshi@localhost:~$ ros2 run nav2_map_server map_saver_cli -f map_test
[INFO] [1756779170.449145940] [map_saver]:
map_saver lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1756779170.453766981] [map_saver]: Creating
[INFO] [1756779170.454343523] [map_saver]: Configuring
[INFO] [1756779170.548227940] [map_saver]: Saving map from 'map' topic to '/home/yingshi/robot_ws/src/yingshi_robot/maps/map_test' file
[WARN] [1756779170.549477815] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000
[WARN] [1756779170.556668606] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000
[ERROR] [1756779172.643780482] [map_saver]: Failed to spin map subscription
[INFO] [1756779172.656481107] [map_saver]: Destroying
[ros2run]: Process exited with failure 1

c2fc5ef2-2e8d-4264-95d6-5ed588d1b1b2-470e2bebaa9bcfd06f78a8349e159b69.png

标题：使用一键安装过程中遇到程序崩溃

本次运行详细日志文件已保存至 /tmp/fishros_install.log
-bash: /usr/bin/sudo: Input/output error
-bash: /usr/bin/sudo: Input/output error
-bash: /home/cyan/.bashrc: Input/output error

因为自己的电脑本身有多个账户，user = FileUtils.getusers()[0] 总是取到不希望使用的账户....
稍微改了一下：
改之前：
user = FileUtils.getusers()[0]
home = "/home/{}".format(user)
改之后：
user = os.getlogin()
home = os.path.expanduser("~")

但是运行错误，如下：

检测到程序发生异常退出，请打开：https://fishros.org.cn/forum 携带如下内容进行反馈
标题：使用一键安装过程中遇到程序崩溃

px4和gazebo-classic桥接
ros2和gazebo-classic桥接
他们的兼容性怎么解决呀，为什么我一旦安装了
ros-humble-gazebo-ros-pkgs，px4再打开gazebo-classic时 就会让gazebo 界面卡死，宏碁，用的ubuntu22.04，ros-humble px4(1.16)

c316e1a9-1551-4b47-b75e-c26ffa362056.png

7f005103-287a-429d-90b0-5f9ef0da7c85-image.png
ros2 run status_display sys_status_display
qt.qpa.plugin: Could not find the Qt platform plugin "wayland" in ""
[ros2run]: Segmentation fault
在运行之后，无法出现界面。在启动发布者之后仍没有界面，但是有数据输出。
求助求助求助！

00884a80-1196-41f1-8d80-03f60587c29d-image.png 99bbee6e-ec15-4201-b01b-f65e14298f83-image.png 0e353a3e-de3d-479f-88b7-4b48a73e0a28-image.png 实际建模中我将imu放置机器人中心base_link，但是从rviz2上观察imu与odom的z轴明显存在偏移，没有对齐。按照我的建模情况应该时要对齐的，我关闭小车的odom，并使用fast-lio作为里程计，将fast-lio中的camera_init作为odom,body作为小车的base_footprint，为什么一启动，小车就会出现抖动，而且rviz2中小车也没有相对地面平放

[INFO] [launch]: All log files can be found below /home/kc/.ros/log/2025-08-26-17-24-41-511304-kc-virtual-machine-22794
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [22800]
[INFO] [robot_state_publisher-2]: process started with pid [22802]
[INFO] [rviz2-3]: process started with pid [22804]
[robot_state_publisher-2] [INFO] [1756200281.619872590] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1756200281.619968730] [robot_state_publisher]: got segment imu_link
[rviz2-3] qt.qpa.plugin: Could not find the Qt platform plugin "wayland" in ""
[joint_state_publisher-1] [INFO] [1756200282.151715471] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[rviz2-3] [INFO] [1756200282.401769764] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1756200282.401853420] [rviz2]: OpenGl version: 4.3 (GLSL 4.3)
[rviz2-3] [INFO] [1756200282.433043487] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [rviz2-3]: process has finished cleanly [pid 22804]

ros1一键安装，三方源已经下好，在最后安装过程中出现报错

http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd[/][3.58s] Err:264 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd[|][3.58s] Err:265 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd[/][3.58s] Err:266 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd[|][3.58s] Err:267 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd[/][3.58s] Err:268 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd[|][3.58s] Err:269 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd[/][3.58s] Err:270 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd[|][3.59s] Err:271 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd[/][3.61s] Err:272 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd[|][3.61s] Err:273 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd[/][3.61s] Err:1 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[|][3.61s] Err:7 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[/][3.61s] Err:8 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[|][3.61s] Err:20 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd6[/][3.62s] Err:24 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd6[|][3.63s] Err:25 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd6[/][3.63s] Err:26 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd6[|][3.64s] Err:27 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd6[/][3.65s] Err:29 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd6[-][3.65s] CMD Result:code:100

Run CMD Task:[sudo apt search python3-catkin-tools ]
[-][0.57s] CMD Result:success

Run CMD Task:[sudo apt install python3-catkin-tools -y]
[|][0.37s] docutils-doc fonts-linuxlibertine | ttf-linux-libertine texlive-lan[/][0.70s] Ign:1 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[][0.70s] Ign:2 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[|][0.74s] Ign:3 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[-][0.74s] Err:1 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[][0.80s] Err:2 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[-][0.80s] Err:3 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[-][0.86s] CMD Result:code:100

Run CMD Task:[sudo apt search python3-rosdep ]
[-][0.70s] CMD Result:success

Run CMD Task:[sudo apt install python3-rosdep -y]
[][0.43s] python3-docutils python3-lib2to3 python3-pkg-resources python3-pygm[][0.43s] docutils-doc fonts-linuxlibertine | ttf-linux-libertine texlive-lan[|][0.67s] Ign:1 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[-][0.67s] Ign:1 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[-][0.70s] Ign:2 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[/][0.75s] Ign:3 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[][0.75s] Err:4 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu focal/main amd6[-][0.75s] Err:5 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu focal/main amd6[][0.77s] Err:1 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[-][0.79s] Err:2 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[][0.79s] Err:3 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal/main amd64[-][0.80s] CMD Result:code:100

Run CMD Task:[ls /opt/ros/noetic/setup.bash]
[/][0.00s] ls: cannot access '/opt/ros/noetic/setup.bash': No such file or direc[-][0.00s] CMD Result:code:2

安装失败了,请打开鱼香社区：https://fishros.org.cn/forum 在一键安装专区反馈问题...
Run CMD Task:[ls /opt/ros/noetic/setup.bash]
[/][0.00s] ls: cannot access '/opt/ros/noetic/setup.bash': No such file or direc[-][0.00s] CMD Result:code:2

欢迎加入机器人学习交流QQ群：438144612(入群口令：一键安装)
鱼香小铺正式开业，最低499可入手一台能建图会导航的移动机器人，淘宝搜店：鱼香ROS 或打开链接查看：https://item.taobao.com/item.htm?id=696573635888
如在使用过程中遇到问题，请打开：https://fishros.org.cn/forum 进行反馈

检测到本次运行出现失败命令,直接退出按Ctrl+C,按任意键上传日志并退出

-][1.00s] CMD Result:code:100

Run CMD Task:[ls /opt/ros/noetic/setup.bash]
[/][0.00s] ls: cannot access '/opt/ros/noetic/setup.bash': No such file or direc[-][0.01s] CMD Result:code:2

安装失败了,请打开鱼香社区：https://fishros.org.cn/forum 在一键安装专区反馈问题...
Run CMD Task:[ls /opt/ros/noetic/setup.bash]
[/][0.00s] ls: cannot access '/opt/ros/noetic/setup.bash': No such file or direc[-][0.00s] CMD Result:code:2

ros版本：humble
操作步骤：在～目录下的终端里输入了rqt-humble-rqt-tf-tree -y和rqt-$ROS_DISTRO-rqt-tf-tree -y
终端日志：
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following NEW packages will be installed:
ros-humble-rqt-tf-tree
0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded.
Need to get 15.3 kB of archives.
After this operation, 74.8 kB of additional disk space will be used.
Err:1 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-rqt-tf-tree amd64 1.0.5-1jammy.20250410.075223
404 Not Found [IP: 64.50.233.100 80]
E: Failed to fetch http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-rqt-tf-tree/ros-humble-rqt-tf-tree_1.0.5-1jammy.20250410.075223_amd64.deb 404 Not Found [IP: 64.50.233.100 80]
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?
自我尝试：
1.在输入该命令之前尝试了sudo apt update, sudo apt-get update, sudo apt upgrade, sudo apt clean等系列apt操作，但依然报错
2.用各种方式换了镜像源，测试了更换后的镜像源可以用后，还是报错
3.换到网络更好一点的地方，还是报错
4.重启电脑后再次尝试，还是报错

纯小白，不太懂这些描述够不够准确，后续我还会继续自己尝试，希望有大佬指点一下尝试方向，谢谢
附截图
5221d7d6-358b-439d-b1f4-0f02dd5c85b1-Screenshot from 2025-08-25 20-58-43.png /home/fyx/Pictures/Screenshots/Screenshot from 2025-08-25 20-58-43.png

如题所示;
书籍中的5-15的代码中的transform.transform.translation.y的值是否存在错误;
书上y值赋值为0.0，但是5.2小结开头的camera_link相对于bottle_link的平移分量y为0.3；
y值是不是应该是0.3，还是说有其他转换，希望能被解答下疑惑

本人是一个ros2萌新1，刚刚在wsl2上面用鱼香ros一键安装了jazzy版的ros2，但是用ros2 run demo_nodes_cpp listener命令和ros2 run demo_nodes_cpp talker命令时，talker可以正常呼出，但是listener接受不了55555...这该怎么办呀
而且小海龟也动不了，这是不是通信方面的问题呢
f2a56bee-5b7b-4bf5-a314-aac4e3f50a82-6672b897c8cac9c0de4b13f11a87711e.png

Ubuntu版本20.04，ROS2版本foxy。如题，按照视频中代码输入后编译正常，运行前也进行了source，运行时报错chihaya@chihaya-virtual-machine:~/chapt5/chapt5_ws$ ros2 run demo_cpp_tf tf_listener
terminate called after throwing an instance of 'std::runtime_error'
what(): Node has already been added to an executor.
询问deepseek的解决方法是删除(*buffer_,this)中的this，但是删除后只会输出警告Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist
at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.14/src/buffer_core.cpp
求大佬解决！

章节2.2中，在使用功能包组织python节点时，在代码和步骤都完全正确的前提下，每当使用colcon build指令后构建的包一直是Starting >>> ros2_cpp，并不是所命名的demo-python-pkg，无法构建出python功能包。