输入ros2 run demo_python_tf dynamic_tf_broadcaster后
Traceback (most recent call last):
File "/home/kc/chapt5/chapt5_ws/install/demo_python_tf/lib/demo_python_tf/dynamic_tf_broadcaster", line 33, in <module>
sys.exit(load_entry_point('demo-python-tf==0.0.0', 'console_scripts', 'dynamic_tf_broadcaster')())
File "/home/kc/chapt5/chapt5_ws/install/demo_python_tf/lib/demo_python_tf/dynamic_tf_broadcaster", line 25, in importlib_load_entry_point
return next(matches).load()
File "/usr/lib/python3.10/importlib/metadata/init.py", line 173, in load
return functools.reduce(getattr, attrs, module)
AttributeError: module 'demo_python_tf.dynamic_tf_broadcaster' has no attribute 'main'
[ros2run]: Process exited with failure 1
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。
输入ros2 run demo_python_tf dynamic_tf_broadcaster后
Traceback (most recent call last):
File "/home/kc/chapt5/chapt5_ws/install/demo_python_tf/lib/demo_python_tf/dynamic_tf_broadcaster", line 33, in <module>
sys.exit(load_entry_point('demo-python-tf==0.0.0', 'console_scripts', 'dynamic_tf_broadcaster')())
File "/home/kc/chapt5/chapt5_ws/install/demo_python_tf/lib/demo_python_tf/dynamic_tf_broadcaster", line 25, in importlib_load_entry_point
return next(matches).load()
File "/usr/lib/python3.10/importlib/metadata/init.py", line 173, in load
return functools.reduce(getattr, attrs, module)
AttributeError: module 'demo_python_tf.dynamic_tf_broadcaster' has no attribute 'main'
[ros2run]: Process exited with failure 1
~$ sudo apt-get install ros-humble-desktop
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
libasound2t64 : Breaks: libasound2 (< 1.2.11-1ubuntu0.1)
libboost-mpi-python1.74.0 : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
libcurl4-openssl-dev : Depends: libcurl4 (= 7.81.0-1ubuntu1.20)
libdrm-dev : Depends: libdrm2 (= 2.4.113-2~ubuntu0.22.04.1) but 2.4.122-1~ubuntu0.24.04.1 is to be installed
Depends: libdrm-intel1 (= 2.4.113-2~ubuntu0.22.04.1) but 2.4.122-1~ubuntu0.24.04.1 is to be installed
Depends: libdrm-radeon1 (= 2.4.113-2~ubuntu0.22.04.1) but 2.4.122-1~ubuntu0.24.04.1 is to be installed
Depends: libdrm-nouveau2 (= 2.4.113-2~ubuntu0.22.04.1) but 2.4.122-1~ubuntu0.24.04.1 is to be installed
Depends: libdrm-amdgpu1 (= 2.4.113-2~ubuntu0.22.04.1) but 2.4.122-1~ubuntu0.24.04.1 is to be installed
libegl-dev : Depends: libegl1 (= 1.4.0-1) but 1.7.0-1build1 is to be installed
libexif-dev : Depends: libexif12 (= 0.6.24-1build1) but 0.6.24-1build2 is to be installed
Recommends: libexif-doc (= 0.6.24-1build1) but it is not going to be installed
libgbm-dev : Depends: libgbm1 (= 23.2.1-1ubuntu3.1~22.04.3) but 25.0.7-0ubuntu0.24.04.1 is to be installed
libgdal-dev : Depends: libnetcdf-dev but it is not installable
libgl-dev : Depends: libgl1 (= 1.4.0-1) but 1.7.0-1build1 is to be installed
Depends: libglx-dev but it is not going to be installed
libgles-dev : Depends: libgles1 (= 1.4.0-1) but it is not going to be installed
Depends: libgles2 (= 1.4.0-1) but 1.7.0-1build1 is to be installed
libglvnd-dev : Depends: libglvnd0 (= 1.4.0-1) but 1.7.0-1build1 is to be installed
Depends: libglx-dev (>= 1.3.0-1) but it is not going to be installed
libgphoto2-6t64 : Breaks: libgphoto2-6 (< 2.5.31-2.1build2)
Recommends: libgphoto2-l10n (= 2.5.31-2.1build2) but 2.5.27-1build2 is to be installed
libhdf4-alt-dev : Depends: libnetcdf-dev but it is not installable
libhdf5-dev : Depends: libssl-dev but it is not installable
libhdf5-openmpi-dev : Depends: libssl-dev but it is not installable
libheif-dev : Depends: libheif1 (= 1.12.0-2build1) but 1.17.6-1ubuntu4.1 is to be installed
Depends: libaom-dev but it is not going to be installed
Depends: libde265-dev (>= 1.0.7) but it is not going to be installed
Depends: libx265-dev but it is not going to be installed
libibus-1.0-dev : Depends: gir1.2-ibus-1.0 (= 1.5.26-4) but 1.5.29-2 is to be installed
Depends: libglib2.0-dev but it is not going to be installed
Depends: libibus-1.0-5 (= 1.5.26-4) but 1.5.29-2 is to be installed
libibverbs-dev : Depends: libibverbs1 (= 39.0-1) but 50.0-2ubuntu0.2 is to be installed
Depends: libnl-3-dev but it is not going to be installed
Depends: libnl-route-3-dev but it is not going to be installed
libltdl-dev : Depends: libltdl7 (= 2.4.6-15build2) but 2.4.7-7build1 is to be installed
Recommends: libtool but it is not going to be installed
liblzma-dev : Depends: liblzma5 (= 5.2.5-2ubuntu1) but 5.6.1+really5.4.5-1ubuntu0.2 is to be installed
libmysqlclient-dev : Depends: libssl-dev but it is not installable
libnetcdf-cxx-legacy-dev : Depends: libnetcdf-dev but it is not installable
libopengl0 : Depends: libglvnd0 (= 1.4.0-1) but 1.7.0-1build1 is to be installed
libopenjp2-7-dev : Depends: libopenjp2-7 (= 2.4.0-6ubuntu0.3) but 2.5.0-2ubuntu0.3 is to be installed
libpcre2-dev : Depends: libpcre2-8-0 (= 10.39-3ubuntu0.1) but 10.42-4ubuntu2.1 is to be installed
libpng-dev : Depends: libpng16-16 (= 1.6.37-3build5)
Recommends: libpng-tools but it is not installable
libpq-dev : Depends: libssl-dev but it is not installable
libpulse-dev : Depends: libpulse0 (= 1:15.99.1+dfsg1-1ubuntu2.2) but 1:16.1+dfsg1-2ubuntu10.1 is to be installed
Depends: libpulse-mainloop-glib0 (= 1:15.99.1+dfsg1-1ubuntu2.2) but 1:16.1+dfsg1-2ubuntu10.1 is to be installed
Depends: libglib2.0-dev but it is not going to be installed
libqt5designer5 : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
libqt5designercomponents5 : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
libqt5help5 : Depends: libqt5gui5 (>= 5.0.2) but it is not installable or
libqt5gui5-gles (>= 5.0.2) but it is not installable
libqt5printsupport5 : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
libqt5quickshapes5 : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
Depends: libqt5quick5 (>= 5.14.1) but it is not installable or
libqt5quick5-gles (>= 5.14.1) but it is not installable
libqt5quicktest5 : Depends: libqt5gui5 (>= 5.12.2) but it is not installable or
libqt5gui5-gles (>= 5.12.2) but it is not installable
Depends: libqt5quick5 (>= 5.0.2) but it is not installable or
libqt5quick5-gles (>= 5.0.2) but it is not installable
libqt5quickwidgets5 : Depends: libqt5gui5 (>= 5.10.0) but it is not installable or
libqt5gui5-gles (>= 5.10.0) but it is not installable
Depends: libqt5quick5 (>= 5.15.1) but it is not installable or
libqt5quick5-gles (>= 5.15.1) but it is not installable
libqt5svg5 : Depends: libqt5gui5 (>= 5.15.3+dfsg~) but it is not installable or
libqt5gui5-gles (>= 5.15.3+dfsg~) but it is not installable
libqt5webkit5 : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
Depends: libqt5quick5 (>= 5.15.3+dfsg~) but it is not installable or
libqt5quick5-gles (>= 5.15.3+dfsg~) but it is not installable
libqt5widgets5 : Depends: libqt5gui5 (>= 5.15.1) but it is not installable or
libqt5gui5-gles (>= 5.15.1) but it is not installable
libshiboken2-py3-5.15 : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
libsm-dev : Depends: libsm6 (= 2:1.2.3-1build2) but 2:1.2.3-1build3 is to be installed
Depends: libice-dev (>= 1:1.0.0-1) but it is not going to be installed
libudev-dev : Depends: libudev1 (= 249.11-0ubuntu3.16) but 255.4-1ubuntu8.10 is to be installed
libvtk9-dev : Depends: libnetcdf-dev but it is not installable
libvtk9-qt-dev : Depends: libqt5opengl5-dev but it is not installable
libvtk9.1-qt : Depends: libqt5gui5 (>= 5.11.0~rc1) but it is not installable or
libqt5gui5-gles (>= 5.11.0~rc1) but it is not installable
libvulkan-dev : Depends: libvulkan1 (= 1.3.204.1-2) but 1.3.275.0-1build1 is to be installed
libwayland-dev : Depends: libwayland-client0 (= 1.20.0-1ubuntu0.1) but 1.22.0-2.1build1 is to be installed
Depends: libwayland-server0 (= 1.20.0-1ubuntu0.1) but 1.22.0-2.1build1 is to be installed
Depends: libwayland-cursor0 (= 1.20.0-1ubuntu0.1) but 1.22.0-2.1build1 is to be installed
Depends: libwayland-egl1 (= 1.20.0-1ubuntu0.1) but 1.22.0-2.1build1 is to be installed
libwebp-dev : Depends: libwebp7 (= 1.2.2-2ubuntu0.22.04.2) but 1.3.2-0.4build3 is to be installed
Depends: libwebpmux3 (= 1.2.2-2ubuntu0.22.04.2) but 1.3.2-0.4build3 is to be installed
Depends: libwebpdemux2 (= 1.2.2-2ubuntu0.22.04.2) but 1.3.2-0.4build3 is to be installed
libx11-dev : Depends: libx11-6 (= 2:1.7.5-1ubuntu0.3) but 2:1.8.7-1build1 is to be installed
Depends: libxcb1-dev but it is not going to be installed
libxaw7-dev : Depends: libxaw7 (= 2:1.0.14-1) but 2:1.0.14-1build2 is to be installed
Depends: libxmu-dev but it is not going to be installed
Depends: libxpm-dev but it is not going to be installed
libxft-dev : Depends: libfontconfig1-dev
libxkbcommon-dev : Depends: libxkbcommon0 (= 1.4.0-1) but 1.6.0-1build1 is to be installed
libxss-dev : Depends: libxss1 (= 1:1.2.3-1build2) but 1:1.2.3-1build3 is to be installed
libxt6t64 : Breaks: libxt6 (< 1:1.2.1-1.2build1)
libzstd-dev : Depends: libzstd1 (= 1.4.8+dfsg-3build1) but 1.5.5+dfsg2-2build1.1 is to be installed
python3-lxml : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
Recommends: python3-bs4 but it is not going to be installed
Recommends: python3-html5lib but it is not going to be installed
python3-matplotlib : Depends: python3-pil.imagetk but it is not going to be installed
Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
Depends: python3-fonttools but it is not going to be installed
Depends: python3-kiwisolver but it is not going to be installed
Recommends: python3-tk but it is not going to be installed
python3-numpy : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
python3-opencv : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
python3-pil : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
Recommends: python3-olefile but it is not going to be installed
python3-pykdl : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
python3-pyqt5 : Depends: libqt5gui5 (>= 5.1.0) but it is not installable
Depends: libqt5gui5 (>= 5.15.1) but it is not installable or
libqt5gui5-gles (>= 5.15.1) but it is not installable
python3-pyqt5.qtsvg : Depends: libqt5gui5 (>= 5.0.2) but it is not installable or
libqt5gui5-gles (>= 5.0.2) but it is not installable
python3-pyqt5.sip : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
python3-pyside2.qtsvg : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
Depends: libqt5gui5 (>= 5.15) but it is not installable or
libqt5gui5-gles (>= 5.15) but it is not installable
Depends: python3-pyside2.qtwidgets but it is not going to be installed
Depends: python3-pyside2.qtgui but it is not going to be installed
Depends: python3-pyside2.qtcore but it is not going to be installed
python3-sip : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
python3-vtk9 : Depends: python3-mpi4py but it is not going to be installed
Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
qhelpgenerator-qt5 : Depends: libqt5gui5 (>= 5.0.2) but it is not installable or
libqt5gui5-gles (>= 5.0.2) but it is not installable
qt5-assistant : Depends: libqt5gui5 (>= 5.11.0~rc1) but it is not installable or
libqt5gui5-gles (>= 5.11.0~rc1) but it is not installable
qt5-qmltooling-plugins : Depends: libqt5gui5 (>= 5.9.0~beta) but it is not installable or
libqt5gui5-gles (>= 5.9.0~beta) but it is not installable
Depends: libqt5quick5 (>= 5.12.2) but it is not installable or
libqt5quick5-gles (>= 5.12.2) but it is not installable
qtbase5-dev : Depends: libqt5gui5 (= 5.15.3+dfsg-2ubuntu0.2) but it is not installable
Recommends: libqt5opengl5-dev (= 5.15.3+dfsg-2ubuntu0.2) but it is not installable
qtdeclarative5-dev : Depends: libqt5quick5 (= 5.15.3+dfsg-1) but it is not installable or
libqt5quick5-gles (>= 5.15) but it is not installable
Depends: libqt5quickparticles5 (= 5.15.3+dfsg-1) but it is not installable or
libqt5quickparticles5-gles (>= 5.15) but it is not installable
qtdeclarative5-dev-tools : Depends: libqt5gui5 (>= 5.2.0) but it is not installable or
libqt5gui5-gles (>= 5.2.0) but it is not installable
Depends: libqt5quick5 (>= 5.6.1) but it is not installable or
libqt5quick5-gles (>= 5.6.1) but it is not installable
qttools5-dev-tools : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
Depends: libqt5quick5 (>= 5.15.3+dfsg~) but it is not installable or
libqt5quick5-gles (>= 5.15.3+dfsg~) but it is not installable
ros-humble-demo-nodes-cpp-native : Depends: ros-humble-fastrtps but it is not installable
Depends: ros-humble-rmw-fastrtps-cpp but it is not installable
ros-humble-rqt-image-view : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
ros-humble-rviz-assimp-vendor : Depends: libassimp-dev but it is not installable
ros-humble-rviz-common : Depends: libqt5gui5 (>= 5.2.0) but it is not installable or
libqt5gui5-gles (>= 5.2.0) but it is not installable
Depends: libqt5gui5 but it is not installable
Depends: libqt5opengl5 but it is not installable
ros-humble-rviz-default-plugins : Depends: libqt5gui5 (>= 5.2.0) but it is not installable or
libqt5gui5-gles (>= 5.2.0) but it is not installable
Depends: libqt5gui5 but it is not installable
Depends: libqt5opengl5 but it is not installable
ros-humble-rviz-rendering : Depends: libqt5gui5 (>= 5.5.0) but it is not installable or
libqt5gui5-gles (>= 5.5.0) but it is not installable
Depends: libqt5gui5 but it is not installable
Depends: libqt5opengl5 but it is not installable
ros-humble-turtlesim : Depends: libqt5gui5 (>= 5.2.0) but it is not installable or
libqt5gui5-gles (>= 5.2.0) but it is not installable
Depends: libqt5gui5 but it is not installable
tcl8.6-dev : Depends: libtcl8.6 (= 8.6.12+dfsg-1build1) but 8.6.14+dfsg-1build1 is to be installed
E: Error, pkgProblemResolver::Resolve generated breaks, this may be caused by held packages.
报错如图：8d3072e1-949a-492b-8137-12d3db17ef34-2025-08-21 15-50-43 的屏幕截图.png /home/user/图片/2025-08-21 15-50-43 的屏幕截图.png
尝试重装boost,但autoremove几乎会把一切环境都卸载。catkin_make -lboost_system也是报相同的错。在cmakelist里添加Boost::system的target_library也没有用。后面重装了ros，用的一键安装，其他都成功了但rosdep出错了，我后面手动安装了。之前因为anaconda的环境原因失败了几次，我卸载了anaconda3后虽然前面成功了，但后面这一步一直出错到现在都没解决，快疯了。大佬们，真心求教！
b2484a57-e457-493a-8805-f35bd50a0974-image.png
使用一键安装rosdepc过程中遇到程序崩溃
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'本次运行详细日志文件已保存至 /tmp/fishros_install.log
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
444
日志上传失败，若还需反馈请手动发帖!
作为多年的机器人爱好者，我相信你一定也有和我们一样的痛苦：
“搭建一个完整的机器人仿真环境从来不是一件容易的事”
“别人发给我的仿真文件，第一次打开，永远是报错的......“
于是我们开发了rabo。它是一个新型的机器人开发平台，可以理解为浏览器版本的gazebo + 一键部署硬件能力。
打开浏览器，你就有了完整的机器人仿真环境和ROS2开发环境，还有各种共享的机器和场景资源可以直接上手，告别虚拟机，告别搭环境，告别安装失败，直接开工～
rabo历经几年时间的开发完成，到目前为止，它还只是在少数几所大学和研究所内应用。虽可挣得几分散碎银两，但作为一个还有那么一点技术理想的团队，我们还是无法摆脱一个渴望，那就是让更多像我们当初一样，在黑暗中苦苦摸索的机器人爱好者们，可以用上rabo，大家一起搞出更多有意思的东西...
所以我们准备面向轻量级开发者 免费 提供社区版rabo，包括上面提到的所有功能。社区版准备在8月底上线，感兴趣尝鲜的同学可以留言，我们提供测试链接～
这是一个示例场景：
http://demo.rdtp.rastorigin.tech:20252/display/xFbOBGWmmKJTrNkV
db02d70a-8a2a-448e-926f-ad1d20637945-图片.png
1daa1236-677b-4535-ac98-cb6996d10c9a-图片.png
Ubuntu22 ros2 humble
按照官方教程，从源码编译安装movei2后，
运行信息看起来正常，rviz2能启动，只是rviz界面在屏幕外，也不知道怎么拉回屏幕中，有大佬遇到同样的问题吗，指点一下谢谢
0b69fcd4-5d42-4264-963d-b7e5cac81090-图片.png ```
code_text
求解，一步步跟着教程来的，为什么会出现构建失败的情况
Run CMD Task:[sudo apt install ros-noetic-desktop-full -y]
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-noetic-desktop-full : Depends: ros-noetic-desktop but it is not going to be installed
Depends: ros-noetic-perception but it is not going to be installed
Depends: ros-noetic-simulators but it is not going to be installed
Depends: ros-noetic-urdf-sim-tutorial but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
Run CMD Task:[sudo apt install ros-noetic-desktop-full -y]
[-][2.51s] CMD Result:code:100
我是ros2 humble 安装的moveit2
使用moveit_setup_assistant配置好的config文件夹，该做的设置都做了，demo.launch.py也能跑起来。
在我运行一个运动规划时报错：
[ERROR] [1755228331.551841031] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached
[ERROR] [1755228331.552188515] [moveit_ik_demo]: Plan (pose goal) FAILED
同时[WARN] [1755228291.666113659] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
很奇怪，
demo.launch.py内容如下
demo.launch.py运行信息：
root@DESKTOP-AOGOC7F:~/dev_ws/src/ros2_21_tutorials# ros2 launch zhijiao_robot0802_moveit_config demo.launch.py [INFO] [launch]: All log files can be found below /home/wzy/.ros/log/2025-08-15-15-08-09-668257-DESKTOP-AOGOC7F-56360 [INFO] [launch]: Default logging verbosity is set to INFO Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. [INFO] [robot_state_publisher-1]: process started with pid [56375] [INFO] [move_group-2]: process started with pid [56377] [INFO] [rviz2-3]: process started with pid [56379] [INFO] [ros2_control_node-4]: process started with pid [56381] [INFO] [spawner-5]: process started with pid [56383] [INFO] [spawner-6]: process started with pid [56385] [robot_state_publisher-1] [INFO] [1755241690.281353069] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1755241690.281527387] [robot_state_publisher]: got segment gripper [robot_state_publisher-1] [INFO] [1755241690.281539478] [robot_state_publisher]: got segment link1 [robot_state_publisher-1] [INFO] [1755241690.281543484] [robot_state_publisher]: got segment link2 [robot_state_publisher-1] [INFO] [1755241690.281546746] [robot_state_publisher]: got segment link3 [robot_state_publisher-1] [INFO] [1755241690.281549728] [robot_state_publisher]: got segment world [ros2_control_node-4] [WARN] [1755241690.294639111] [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-4] [INFO] [1755241690.294971940] [resource_manager]: Loading hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.296947580] [resource_manager]: Initialize hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.297019335] [resource_manager]: Successful initialization of hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.297073423] [resource_manager]: 'configure' hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.297080134] [resource_manager]: Successful 'configure' of hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.297084450] [resource_manager]: 'activate' hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.297089252] [resource_manager]: Successful 'activate' of hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.303197239] [controller_manager]: update rate is 1000 Hz [ros2_control_node-4] [INFO] [1755241690.303236810] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 [ros2_control_node-4] [WARN] [1755241690.303419561] [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-2] [INFO] [1755241690.311139169] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0282244 seconds [move_group-2] [INFO] [1755241690.311553283] [moveit_robot_model.robot_model]: Loading robot model 'zhijiao_robot'... [move_group-2] [INFO] [1755241690.311573804] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-3] QStandardPaths: runtime directory '/run/user/1000/' is not owned by UID 0, but a directory permissions 0755 owned by UID 1000 GID 1000 [move_group-2] [INFO] [1755241690.368560280] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-2] [INFO] [1755241690.368718765] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-2] [INFO] [1755241690.369369249] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-2] [INFO] [1755241690.370079608] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-2] [INFO] [1755241690.370111037] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-2] [INFO] [1755241690.370440117] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-2] [INFO] [1755241690.370459247] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-2] [INFO] [1755241690.370769098] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-2] [INFO] [1755241690.371073262] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-2] [WARN] [1755241690.373731793] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-2] [ERROR] [1755241690.373763222] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [move_group-2] [INFO] [1755241690.374607806] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl' [move_group-2] [INFO] [1755241690.408689412] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-2] [INFO] [1755241690.418498010] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1755241690.418534052] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1755241690.418540057] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000 [move_group-2] [INFO] [1755241690.418584222] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-2] [INFO] [1755241690.418601224] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000 [move_group-2] [INFO] [1755241690.418606265] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1755241690.418617808] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1755241690.418625534] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-2] [INFO] [1755241690.418645399] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100 [move_group-2] [INFO] [1755241690.418658623] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-2] [INFO] [1755241690.418665235] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-2] [INFO] [1755241690.418668675] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-2] [INFO] [1755241690.418672274] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-2] [INFO] [1755241690.418675456] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-2] [INFO] [1755241690.418678747] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-2] [INFO] [1755241690.428663890] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner' [move_group-2] [INFO] [1755241690.438158376] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-2] [INFO] [1755241690.443647834] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-2] [INFO] [1755241690.443686819] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC [move_group-2] [INFO] [1755241690.451073455] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC] [move_group-2] [INFO] [1755241690.451116228] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN [move_group-2] [INFO] [1755241690.453484318] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN] [move_group-2] [INFO] [1755241690.453519057] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-2] [INFO] [1755241690.455588758] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP] [move_group-2] [INFO] [1755241690.455650502] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner' [move_group-2] [INFO] [1755241690.456677437] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp' [ros2_control_node-4] [INFO] [1755241690.468645836] [controller_manager]: Loading controller 'joint_state_broadcaster' [move_group-2] [INFO] [1755241690.473649728] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP' [move_group-2] [INFO] [1755241690.481751971] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1755241690.481792060] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1755241690.481797836] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000 [move_group-2] [INFO] [1755241690.481822365] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-2] [INFO] [1755241690.481835549] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000 [move_group-2] [INFO] [1755241690.481839844] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1755241690.481847649] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1755241690.481851586] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000 [move_group-2] [INFO] [1755241690.481855832] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100 [move_group-2] [INFO] [1755241690.481862692] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-2] [INFO] [1755241690.481866470] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-2] [INFO] [1755241690.481868966] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-2] [INFO] [1755241690.481871392] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-2] [INFO] [1755241690.481873659] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-2] [INFO] [1755241690.481876681] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [ros2_control_node-4] [INFO] [1755241690.486809260] [controller_manager]: Loading controller 'manipulator_controller' [ros2_control_node-4] [WARN] [1755241690.506926912] [manipulator_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [spawner-6] [INFO] [1755241690.507374786] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-4] [INFO] [1755241690.508775132] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-4] [INFO] [1755241690.508911455] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-6] [INFO] [1755241690.524652598] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [spawner-5] [INFO] [1755241690.527026593] [spawner_manipulator_controller]: Loaded manipulator_controller [ros2_control_node-4] [INFO] [1755241690.528512523] [controller_manager]: Configuring controller 'manipulator_controller' [ros2_control_node-4] [INFO] [1755241690.528679032] [manipulator_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-4] [INFO] [1755241690.528761923] [manipulator_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity]. [ros2_control_node-4] [INFO] [1755241690.528796106] [manipulator_controller]: Using 'splines' interpolation method. [ros2_control_node-4] [INFO] [1755241690.529828635] [manipulator_controller]: Controller state will be published at 50.00 Hz. [ros2_control_node-4] [INFO] [1755241690.532093829] [manipulator_controller]: Action status changes will be monitored at 20.00 Hz. [move_group-2] [INFO] [1755241690.535834790] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for manipulator_controller [move_group-2] [INFO] [1755241690.536050315] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1755241690.536090076] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1755241690.536626986] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-2] [INFO] [1755241690.536644664] [move_group.move_group]: MoveGroup debug mode is ON [spawner-5] [INFO] [1755241690.542301507] [spawner_manipulator_controller]: Configured and activated manipulator_controller [move_group-2] [INFO] [1755241690.569099677] [move_group.move_group]: [move_group-2] [move_group-2] ******************************************************** [move_group-2] * MoveGroup using: [move_group-2] * - ApplyPlanningSceneService [move_group-2] * - ClearOctomapService [move_group-2] * - CartesianPathService [move_group-2] * - ExecuteTrajectoryAction [move_group-2] * - GetPlanningSceneService [move_group-2] * - KinematicsService [move_group-2] * - MoveAction [move_group-2] * - MotionPlanService [move_group-2] * - QueryPlannersService [move_group-2] * - StateValidationService [move_group-2] ******************************************************** [move_group-2] [move_group-2] [INFO] [1755241690.569172566] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-2] [INFO] [1755241690.569180659] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-2] Loading 'move_group/ApplyPlanningSceneService'... [move_group-2] Loading 'move_group/ClearOctomapService'... [move_group-2] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-2] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-2] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-2] Loading 'move_group/MoveGroupKinematicsService'... [move_group-2] Loading 'move_group/MoveGroupMoveAction'... [move_group-2] Loading 'move_group/MoveGroupPlanService'... [move_group-2] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-2] Loading 'move_group/MoveGroupStateValidationService'... [move_group-2] [move_group-2] You can start planning now! [move_group-2] [INFO] [spawner-6]: process has finished cleanly [pid 56385] [INFO] [spawner-5]: process has finished cleanly [pid 56383] [rviz2-3] [INFO] [1755241691.973746834] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1755241691.973846150] [rviz2]: OpenGl version: 4.2 (GLSL 4.2) [rviz2-3] [INFO] [1755241692.041048352] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] 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. [rviz2-3] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp [rviz2-3] [ERROR] [1755241695.253089703] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-3] [INFO] [1755241695.278270515] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-3] [INFO] [1755241695.431960017] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0707571 seconds [rviz2-3] [INFO] [1755241695.432019926] [moveit_robot_model.robot_model]: Loading robot model 'zhijiao_robot'... [rviz2-3] [INFO] [1755241695.432038295] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-3] [INFO] [1755241695.529597457] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-3] [INFO] [1755241695.530216213] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-3] [INFO] [1755241695.546024051] [interactive_marker_display_109107901472208]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-3] [INFO] [1755241695.553036098] [moveit_ros_visualization.motion_planning_frame]: group manipulator [rviz2-3] [INFO] [1755241695.553079000] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' [rviz2-3] [INFO] [1755241695.562488219] [move_group_interface]: Ready to take commands for planning group manipulator. [rviz2-3] [INFO] [1755241695.563656181] [moveit_ros_visualization.motion_planning_frame]: group manipulator [rviz2-3] [INFO] [1755241695.583086131] [interactive_marker_display_109107901472208]: Sending request for interactive markers [rviz2-3] [INFO] [1755241695.606071280] [interactive_marker_display_109107901472208]: Service response received for initialization``` 运行信息看起来一切正常 moveit_ik_demo.cpp内容如下：#include <rclcpp/rclcpp.hpp>
#include<moveit/move_group_interface/move_group_interface.h>
#include <geometry_msgs/msg/pose.hpp>
#include <chrono>
#include <thread>
int main(int argc, char **argv)
{
// 初始化 ROS 2 节点
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
auto node = rclcpp::Node::make_shared("moveit_ik_demo", options);
}
运行信息如下：root@DESKTOP-AOGOC7F:~/dev_ws/src/ros2_21_tutorials# ros2 run zhijiao_robot0802_moveit_cpp_demo moveit_ik_demo
[INFO] [1755228291.660353144] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 1.02404 seconds
[INFO] [1755228291.660437959] [moveit_robot_model.robot_model]: Loading robot model 'zhijiao_robot'...
[INFO] [1755228291.660458754] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[WARN] [1755228291.666113659] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[INFO] [1755228291.681796533] [move_group_interface]: Ready to take commands for planning group manipulator.
[INFO] [1755228291.681837878] [moveit_ik_demo]: End effector link: gripper
[INFO] [1755228291.682709957] [move_group_interface]: Plan and Execute request accepted
[INFO] [1755228324.873389855] [move_group_interface]: Plan and Execute request complete!
[INFO] [1755228325.873665930] [move_group_interface]: MoveGroup action client/server ready
[INFO] [1755228325.874464459] [move_group_interface]: Planning request accepted
[INFO] [1755228331.551459726] [move_group_interface]: Planning request aborted
[ERROR] [1755228331.551841031] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached
[ERROR] [1755228331.552188515] [moveit_ik_demo]: Plan (pose goal) FAILED
[INFO] [1755228331.552770564] [move_group_interface]: Plan and Execute request accepted
[INFO] [1755228364.918952103] [move_group_interface]: Plan and Execute request complete!```
我也怀疑过是未正确加载kinematics.yaml，于是我在demo.launch.py中加上print(moveit_config)，运行信息中打印出了moveit_config信息，其中包含
robot_description_kinematics={'robot_description_kinematics': {'manipulator': {'kinematics_solver': 'kdl_kinematics_plugin/KDLKinematicsPlugin', 'kinematics_solver_search_resolution': 0.005, 'kinematics_solver_timeout': 0.005}}},
各位大神，有没有遇到同样问题的，怎么解决
b7a9cc31-913a-4bb6-8646-e135e61f2cad-8463f1d1469274cd98c573eb906baea7.png
求救求救，呜呜呜
fishbot_ros2_controller.yaml文件内容：
controller_manager: ros__parameters: update_rate: 100 # Hz use_sim_time: true fishbot_joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster use_sim_time: true fishbot_effort_controller: type: effort_controllers/JointGroupEffortController fishbot_effort_controller: ros__parameters: joints: - left_wheel_joint - right_wheel_joint command_interfaces: - effort state_interfaces: - position - velocity - effortgazebo_sim.launch.py文件内容：
import launch import launch_ros from ament_index_python.packages import get_package_share_directory import os def generate_launch_description(): # 获取功能包的share路径 urdf_package_path = get_package_share_directory('fishbot_description') defualt_xacro_path = os.path.join(urdf_package_path, 'urdf', 'fishbot/fishbot.urdf.xacro') defualt_gazebo_world_path = os.path.join(urdf_package_path, 'world', 'custom_room.world') # 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(defualt_xacro_path), description='加载的模型文件路径' ) # 通过文件路径，获取内容，并转换成参数值对象，以供传入 robot_state_publisher substitutions_command_result = launch.substitutions.Command(['xacro ', launch.substitutions.LaunchConfiguration('model')]) robot_description_value = launch_ros.parameter_descriptions.ParameterValue(substitutions_command_result, value_type=str) action_robot_state_publisher = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', parameters=[{'robot_description':robot_description_value}] ) action_launch_gazebo = launch.actions.IncludeLaunchDescription( launch.launch_description_sources.PythonLaunchDescriptionSource( [get_package_share_directory('gazebo_ros'),'/launch','/gazebo.launch.py'] ), launch_arguments=[('world',defualt_gazebo_world_path),('verbose','true')] ) action_spawm_entity = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', arguments=['-topic','/robot_description','-entity','fishbot'] ) action_load_joint_state_controller = launch.actions.ExecuteProcess( cmd='ros2 control load_controller fishbot_joint_state_broadcaster --set-state active'.split(' '), output='screen' ) action_load_effort_controller = launch.actions.ExecuteProcess( cmd='ros2 control load_controller fishbot_effort_broadcaster --set-state active'.split(' '), output='screen' ) return launch.LaunchDescription([ action_declare_arg_mode_path, action_robot_state_publisher, action_launch_gazebo, action_spawm_entity, launch.actions.RegisterEventHandler( event_handler=launch.event_handlers.OnProcessExit( target_action=action_spawm_entity, on_exit=[action_load_joint_state_controller], ) ), launch.actions.RegisterEventHandler( event_handler=launch.event_handlers.OnProcessExit( target_action=action_load_joint_state_controller, on_exit=[action_load_effort_controller], ) ), ])报错内容：
charlie@charlie-VirtualBox:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py [INFO] [launch]: All log files can be found below /home/charlie/.ros/log/2025-08-14-13-26-32-002900-charlie-VirtualBox-14576 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [14582] [INFO] [gzserver-2]: process started with pid [14584] [INFO] [gzclient-3]: process started with pid [14586] [INFO] [spawn_entity.py-4]: process started with pid [14588] [robot_state_publisher-1] [INFO] [1755149192.409618885] [robot_state_publisher]: got segment back_wheel_link [robot_state_publisher-1] [INFO] [1755149192.409707476] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1755149192.409716020] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1755149192.409720830] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1755149192.409725466] [robot_state_publisher]: got segment camera_optical_link [robot_state_publisher-1] [INFO] [1755149192.409730113] [robot_state_publisher]: got segment front_wheel_link [robot_state_publisher-1] [INFO] [1755149192.409734683] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1755149192.409739214] [robot_state_publisher]: got segment laser_cylinder_link [robot_state_publisher-1] [INFO] [1755149192.409743668] [robot_state_publisher]: got segment laser_link [robot_state_publisher-1] [INFO] [1755149192.409748291] [robot_state_publisher]: got segment left_wheel_link [robot_state_publisher-1] [INFO] [1755149192.409752794] [robot_state_publisher]: got segment right_wheel_link [gzclient-3] Gazebo multi-robot simulator, version 11.10.2 [gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation. [gzclient-3] Released under the Apache 2 License. [gzclient-3] http://gazebosim.org [gzclient-3] [gzserver-2] Gazebo multi-robot simulator, version 11.10.2 [gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation. [gzserver-2] Released under the Apache 2 License. [gzserver-2] http://gazebosim.org [gzserver-2] [spawn_entity.py-4] [INFO] [1755149192.721795812] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1755149192.722152998] [spawn_entity]: Loading entity published on topic /robot_description [spawn_entity.py-4] [INFO] [1755149192.723538076] [spawn_entity]: Waiting for entity xml on /robot_description [spawn_entity.py-4] [INFO] [1755149192.737648830] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1755149192.737973586] [spawn_entity]: Waiting for service /spawn_entity [gzserver-2] [Wrn] [gazebo_ros_init.cpp:178] [gzserver-2] # # ####### ####### ### ##### ####### [gzserver-2] ## # # # # # # # # [gzserver-2] # # # # # # # # # [gzserver-2] # # # # # # # # ##### [gzserver-2] # # # # # # # # # [gzserver-2] # ## # # # # # # # [gzserver-2] # # ####### # ### ##### ####### [gzserver-2] [gzserver-2] This version of Gazebo, now called Gazebo classic, reaches end-of-life [gzserver-2] in January 2025. Users are highly encouraged to migrate to the new Gazebo [gzserver-2] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli) [gzserver-2] [gzserver-2] [spawn_entity.py-4] [INFO] [1755149193.630002076] [spawn_entity]: Calling service /spawn_entity [gzclient-3] [Msg] Waiting for master. [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzclient-3] [Msg] Publicized address: 10.0.2.15 [gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in "" [gzserver-2] [Msg] Waiting for master. [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzserver-2] [Msg] Publicized address: 10.0.2.15 [gzserver-2] [Msg] Loading world file [/home/charlie/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world] [gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [gzserver-2] [INFO] [1755149194.040022442] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info] [gzserver-2] [INFO] [1755149194.041348511] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info] [gzserver-2] [INFO] [1755149194.041969718] [depth_camera]: Publishing pointcloud to [/camera_sensor/points] [spawn_entity.py-4] [INFO] [1755149194.167642949] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot] [gzserver-2] [INFO] [1755149194.188820356] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-2] [INFO] [1755149194.196361687] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-2] [INFO] [1755149194.196411774] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-2] [INFO] [1755149194.202945161] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-2] [INFO] [1755149194.204511542] [gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-2] [INFO] [1755149194.204661865] [gazebo_ros2_control]: Loading parameter files /home/charlie/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml [gzserver-2] [INFO] [1755149194.216888925] [gazebo_ros2_control]: Loading joint: left_wheel_joint [gzserver-2] [INFO] [1755149194.216973229] [gazebo_ros2_control]: State: [gzserver-2] [INFO] [1755149194.216996699] [gazebo_ros2_control]: position [gzserver-2] [INFO] [1755149194.217017614] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.217035265] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.217410237] [gazebo_ros2_control]: Command: [gzserver-2] [INFO] [1755149194.217472195] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.217882558] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.217932050] [gazebo_ros2_control]: Loading joint: right_wheel_joint [gzserver-2] [INFO] [1755149194.217953011] [gazebo_ros2_control]: State: [gzserver-2] [INFO] [1755149194.217970816] [gazebo_ros2_control]: position [gzserver-2] [INFO] [1755149194.217992609] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.218018592] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.218073496] [gazebo_ros2_control]: Command: [gzserver-2] [INFO] [1755149194.218104275] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.218310209] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.218444212] [resource_manager]: Initialize hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.218787765] [resource_manager]: Successful initialization of hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219203076] [resource_manager]: 'configure' hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219228919] [resource_manager]: Successful 'configure' of hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219242935] [resource_manager]: 'activate' hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219255560] [resource_manager]: Successful 'activate' of hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219508454] [gazebo_ros2_control]: Loading controller_manager [gzserver-2] [WARN] [1755149194.240378504] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [gzserver-2] [INFO] [1755149194.240584522] [gazebo_ros2_control]: Loaded gazebo_ros2_control. [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 14588] [INFO] [ros2-5]: process started with pid [14745] [gzserver-2] [INFO] [1755149195.120629564] [controller_manager]: Loading controller 'fishbot_joint_state_broadcaster' [gzserver-2] [INFO] [1755149195.145931071] [controller_manager]: Configuring controller 'fishbot_joint_state_broadcaster' [gzserver-2] [INFO] [1755149195.146586668] [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 [gzclient-3] context mismatch in svga_surface_destroy [gzclient-3] context mismatch in svga_surface_destroy [INFO] [ros2-5]: process has finished cleanly [pid 14745] [INFO] [ros2-6]: process started with pid [14781] [gzserver-2] [ERROR] [1755149196.607657076] [controller_manager]: The 'type' param was not defined for 'fishbot_effort_broadcaster'. [ros2-6] Error loading controller, check controller_manager logs [ERROR] [ros2-6]: process has died [pid 14781, exit code 1, cmd 'ros2 control load_controller fishbot_effort_broadcaster --set-state active'].e303b6248484e1f5a1c006982b7633b2.png :
ros，docker```
code_text
wros@wros-VirtualBox:~/chapt2$ make
Consolidate compiler generated dependencies of target ros2_cpp_node
[ 50%] Building CXX object CMakeFiles/ros2_cpp_node.dir/ros2_cpp_node.cpp.o
/home/wros/chapt2/ros2_cpp_node.cpp: In function ‘int main(int, char**)’:
/home/wros/chapt2/ros2_cpp_node.cpp:5:22: error: parse error in template argument list
5 | auto node = std::make_sharedrclcpp:::Node("cpp_node"); //创建节点
| ^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/wros/chapt2/ros2_cpp_node.cpp:5:48: error: no matching function for call to ‘make_shared<<expression error> >(const char [9])’
5 | auto node = std::make_sharedrclcpp:::Node("cpp_node"); //创建节点
| ~^~
In file included from /usr/include/c++/11/memory:77,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153,
from /home/wros/chapt2/ros2_cpp_node.cpp:1:
/usr/include/c++/11/bits/shared_ptr.h:875:5: note: candidate: ‘template<class _Tp, class ... _Args> std::shared_ptr<_Tp> std::make_shared(_Args&& ...)’
875 | make_shared(_Args&&... __args)
| ^
/usr/include/c++/11/bits/shared_ptr.h:875:5: note: template argument deduction/substitution failed:
/home/wros/chapt2/ros2_cpp_node.cpp:5:48: error: template argument 1 is invalid
5 | auto node = std::make_sharedrclcpp:::Node("cpp_node"); //创建节点
| ~^~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/wros/chapt2/ros2_cpp_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:531:81: error: template argument 1 is invalid
531 | ::std::is_same<typename std::remove_cv_t<typename std::remove_reference_t<decltype(logger)>>,
| ^~
/home/wros/chapt2/ros2_cpp_node.cpp:6:5: note: in expansion of macro ‘RCLCPP_INFO’
6 | RCLCPP_INFO(node->get_logger(),"你好，C++节点！"); //打印日志
| ^
/opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:531:97: error: template argument 1 is invalid
531 | ::std::is_same<typename std::remove_cv_t<typename std::remove_reference_t<decltype(logger)>>,
| ^~
/home/wros/chapt2/ros2_cpp_node.cpp:6:5: note: in expansion of macro ‘RCLCPP_INFO’
6 | RCLCPP_INFO(node->get_logger(),"你好，C++节点！"); //打印日志
| ^~~~~
/opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:532:32: error: template argument 1 is invalid
532 | typename ::rclcpp::Logger>::value,
| ^
/home/wros/chapt2/ros2_cpp_node.cpp:6:5: note: in expansion of macro ‘RCLCPP_INFO’
6 | RCLCPP_INFO(node->get_logger(),"你好，C++节点！"); //打印日志
| ^~~~~~~~~~~
make[2]: *** [CMakeFiles/ros2_cpp_node.dir/build.make:76：CMakeFiles/ros2_cpp_node.dir/ros2_cpp_node.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:85：CMakeFiles/ros2_cpp_node.dir/all] 错误 2
make: *** [Makefile:101：all] 错误 2
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