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 1518, in run_tool_file
tool = importlib.import_module(file.replace(".py","")).Tool()
AttributeError: module 'tools.tool_config_system_source' has no attribute 'Tool'
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 1518, in run_tool_file
tool = importlib.import_module(file.replace(".py","")).Tool()
AttributeError: module 'tools.tool_config_system_source' has no attribute 'Tool'
Docker 安装ros1 noetic 小乌龟能出现，但是运行小乌龟控制的终端（rosrun turtlesim turtle_teleop_key）按方向键直接卡死，鼠标移动到小海龟窗口上也会卡死+闪退
学习3.学会面向对象编程-封装IMU驱动章节
ea239b09-4d2a-4d1f-99d1-93cc28c23cb7-image.png
串口监视器截图
有ROS1的学习资源吗
在platform.ini文件下，使用espidf框架，无法安装需要的依赖包
背景：
我想创建MicroROS节点并实现ESP32与ROS2动⼿实践部分的通信，使用的是espidf框架，我看小鱼的使用的是arduino框架。
问题描述：在.ini文件里写入依赖时，总是输出没法找到这个包，查阅大模型发现这个micro-ROS/micro_ros_platformio包只在arduino框架下有预编译包，尝试许多办法都还是没法解决。
具体细节和上下文：这是我的.ini文件源码[env:esp32-s3-devkitc-1]
platform = espressif32
board = esp32-s3-devkitc-1
framework = espidf
monitor_speed = 115200
lib_deps =
micro-ROS/micro_ros_platformio
这是报错：
Resolving esp32-s3-devkitc-1 dependencies...
Library Manager: Installing micro-ROS/micro_ros_platformio
UnknownPackageError: Could not find the package with 'micro-ROS/micro_ros_platformio' requirements for your system 'windows_amd64'
基础环境：
ubuntu 24.04
ros2-jazzy
gazebo-Harmonic
目的：
我在学习本站的【ROS2机器人入门到实战】-Gazebo仿真插件之两轮差速章节中遇到问题，在gazebo中导入模型正常，利用键盘控制模型原地移动正常，在rviz2中模型有显示，但只有轮子在转动，模型不动。fixed frame选项中没有odom。
gz终端显示如下：
/d2lros2/chapt8_ws$ ros2 launch fishbot_description gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/gao/.ros/log/2025-09-17-09-30-35-733771-gao-ThinkPad-L430-8131
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gazebo_sim-1]: process started with pid [8135]
[INFO] [robot_state_publisher-2]: process started with pid [8136]
[INFO] [spawn_entity-3]: process started with pid [8137]
[INFO] [joint_state_publisher-4]: process started with pid [8138]
[INFO] [gz_pose_to_tf-5]: process started with pid [8139]
[robot_state_publisher-2] [WARN] [1758072636.096789654] [kdl_parser]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1758072636.097000628] [robot_state_publisher]: Robot initialized
[gazebo_sim-1] Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
[spawn_entity-3] [INFO] [1758072636.593876496] [ros_gz_sim]: Requesting list of world names.
[joint_state_publisher-4] [INFO] [1758072637.327276699] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[gz_pose_to_tf-5] [INFO] [1758072637.482055366] [gz_pose_to_tf]: 节点启动成功，等待Gazebo位姿数据...
[spawn_entity-3] [INFO] [1758072637.685053793] [ros_gz_sim]: Waiting messages on topic [robot_description].
[spawn_entity-3] [INFO] [1758072637.690700850] [ros_gz_sim]: Entity creation successful.
[INFO] [spawn_entity-3]: process has finished cleanly [pid 8137]
[INFO] [parameter_bridge-6]: process started with pid [8310]
[parameter_bridge-6] [INFO] [1758072641.079410242] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/cmd_vel (geometry_msgs/msg/Twist) -> /cmd_vel (gz.msgs.Twist)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.094205656] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/odom (gz.msgs.Odometry) -> /odom (nav_msgs/msg/Odometry)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.102399569] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/joint_states (gz.msgs.Model) -> /joint_states (sensor_msgs/msg/JointState)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.124001464] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/fishbot_base/tf (gz.msgs.Pose_V) -> /model/fishbot_base/tf (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.135632301] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
ros2 topic list
/clicked_point
/clock
/cmd_vel
/goal_pose
/initialpose
/joint_states
/model/fishbot_base/tf
/odom
/parameter_events
/robot_description
/rosout
/tf
/tf_static
/world/default/pose/info
ros2 topic info /odom
Type: nav_msgs/msg/Odometry
Publisher count: 1
Subscription count: 0
gz topic -l
Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
/clock
/cmd_vel
/gazebo/resource_paths
/gui/camera/pose
/gui/currently_tracked
/gui/track
/joint_states
/model/fishbot_base/pose
/model/fishbot_base/tf
/odom
/stats
/world/empty/clock
/world/empty/dynamic_pose/info
/world/empty/pose/info
/world/empty/scene/deletion
/world/empty/scene/info
/world/empty/state
/world/empty/stats
/model/fishbot_base/enable
/world/empty/light_config
/world/empty/material_color
ros2 topic echo /odom
header:
stamp:
sec: 170
nanosec: 0
frame_id: odom
child_frame_id: base_footprint
pose:
pose:
position:
x: -4.028614228463498e-13
y: 1.2847207709729211e-12
z: 0.0
orientation:
x: 0.0
y: -0.0
z: -0.39562289102470527
w: -0.9184130487407364
covariance:
twist:
twist:
linear:
x: -3.8191672047105385e-12
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -0.6726808822151984
covariance: 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
header:
stamp:
sec: 170
nanosec: 20000000
frame_id: odom
child_frame_id: base_footprint
pose:
pose:
position:
x: -4.5447697525525446e-13
y: 1.2308509718320058e-12
z: 0.0
orientation:
x: 0.0
y: -0.0
z: -0.3894359976925846
w: -0.9210535292268204
covariance:
twist:
twist:
linear:
x: -3.730349362740526e-12
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -0.6726808822145794
covariance: 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
gz topic -t /odom -i
Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
Publishers [Address, Message Type]:
tcp://172.17.0.1:42837, gz.msgs.Odometry
Subscribers [Address, Message Type]:
tcp://172.17.0.1:37283, gz.msgs.Odometry
gz topic -t /odom -e
Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
header {
stamp {
sec: 200
nsec: 920000000
}
data {
key: "frame_id"
value: "odom"
}
data {
key: "child_frame_id"
value: "base_footprint"
}
}
pose {
position {
x: 2.5211883694718938e-12
y: -1.8125757217106408e-13
}
orientation {
z: -0.53805043015990317
w: 0.84291264945114175
}
}
twist {
linear {
x: -1.0658141036401503e-12
}
angular {
z: -0.672680882209628
}
}
header {
stamp {
sec: 200
nsec: 940000000
}
data {
key: "frame_id"
value: "odom"
}
data {
key: "child_frame_id"
value: "base_footprint"
}
}
pose {
position {
x: 2.5138206233728475e-12
y: -1.650941404351984e-13
}
orientation {
z: -0.54370832631104715
w: 0.83927424355811131
}
}
twist {
linear {
x: -8.8817841970012523e-13
}
angular {
z: -0.67268088220839006
}
}
header {
stamp {
sec: 200
nsec: 960000000
}
data {
key: "frame_id"
value: "odom"
}
data {
key: "child_frame_id"
value: "base_footprint"
}
}
pose {
position {
x: 2.5059541819667771e-12
y: -1.4720778384187288e-13
}
orientation {
z: -0.54934161977662233
w: 0.83559786068490927
}
}
twist {
linear {
x: -1.0658141036401503e-12
}
angular {
z: -0.672680882209628
}
}
launch文件：
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess, TimerAction
from launch_ros.substitutions import FindPackageShare
import os
def generate_launch_description():
# 获取包路径和URDF
pkg_share = FindPackageShare('fishbot_description').find('fishbot_description')
urdf_path = os.path.join(pkg_share, 'urdf', 'fishbot_base.urdf')
urdf文件：
<?xml version="1.0"?>
<robot name="fishbot_base">
<!--2025-07-14修改，
ros2 launch fishbot_description gazebo.launch.py 在gz中显示-->
<!-- Robot Footprint -->
<gazebo>
<plugin filename='libgz-sim8-diff-drive-system.so' name='gz::sim::systems::DiffDrive'>
</gazebo>
<!-- ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimROS2ControlHardware</plugin>
</hardware>
<joint name="left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control -->
<link name="base_footprint">
<!-- 这是一个虚拟链接，不需要几何形状 --> <inertial> <mass value="0.001"/> <!-- 极小质量 --> <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/> </inertial></link>
<joint name="base_footprint_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
</joint>
<!--joint name="base_link_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="0 0 0.033" rpy="0 0 0"/>
</joint -->
<!-- base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.10"/>
</geometry>
<material name="white">
<color rgba="1.0 1.0 1.0 0.5 " />
</material>
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.10"/>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
<material name="white">
<color rgba="1.0 1.0 1.0 0.5 " />
</material>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.012" ixy="0" ixz="0" iyy="0.012" iyz="0" izz="0.02"/>
</inertial>
<gazebo reference="base_link">
<turnGravityOff>false</turnGravityOff>
<dampingFactor>0.1</dampingFactor>
</gazebo>
</link>
<ros>
<!-- 指定为当前模型发布 TF -->
<ros2_interface_config>joint_pressure</ros2_interface_config>
<ros2_interface_config>model_pose</ros2_interface_config>
<!-- 或者更精细的控制 -->
<!-- <namespace>/</namespace> -->
</ros>
<!-- laser joint -->
<joint name="laser_joint" type="fixed">
<parent link="base_link" />
<child link="laser_link" />
<origin xyz="0 0 0.075" />
</joint>
<!-- laser link -->
<link name="laser_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.00019" ixy="0" ixz="0" iyy="0.00019" iyz="0" izz="0.00036"/>
</inertial>
</link>
<link name="left_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.033"/>
</geometry>
<material name="wheel_color">
<color rgba="0.8 0.1 0.1 1.0 " />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.033"/>
</geometry>
</link>
<link name="right_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.033"/>
</geometry>
<material name="wheel_color">
<color rgba="0.8 0.1 0.1 1.0 " />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.033"/>
</geometry>
<material name="wheel_color">
<color rgba="0.8 0.1 0.1 1.0 " />
</material>
<surface>
<friction>
<ode>
<mu>1.0</mu> <!-- 摩擦系数 -->
<mu2>1.0</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<slip1>0.1</slip1>
<slip2>0.1</slip2>
</ode>
</friction>
</surface>
</link>
<joint name="left_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="left_wheel_link"/>
<origin xyz="-0.02 0.144 -0.059" rpy="1.57079 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" velocity="10.0" lower="-3.14" upper="3.14"/>
</joint>
<joint name="right_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="right_wheel_link"/>
<origin xyz="-0.02 -0.144 -0.059" rpy="1.57079 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" velocity="10.0" lower="-3.14" upper="3.14"/>
</joint>
<link name="imu_link">
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<topic>imu</topic>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</link>
<!-- imu joint -->
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
<origin xyz="0 0 0.02" />
</joint>
<link name="caster_link">
<visual>
<origin xyz="0 0 0" rpy="1.57079 0 0"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="1.57079 0 0"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.00019" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/>
</inertial>
</link>
<joint name="caster_joint" type="fixed">
<parent link="base_link" />
<child link="caster_link" />
<origin xyz="0.06 0.0 -0.076" />
<axis xyz="0 1 0" />
</joint>
<gazebo reference="caster_link">
<material>Gazebo/Black</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="1000000.0" />
<kd value="100.0" />
<!-- <fdir1 value="0 0 1"/> -->
</gazebo>
</robot>
问题出在哪里？如何修改？
[ERROR] [rviz2-3]: process has died [pid 11768, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/abc/桌面/ros2bookcode/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/rviz/display_model.rviz --ros-args'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
NAV2中的局部规划器默认是DWB，但是对阿克曼这种车型不太友好，想使用TEB
但是呢，怎么去进行替换又是一个问题，有没有大佬可以指点一下
c038bd2b-6a29-4f22-916e-55e96d4b7697-截图 2025-09-15 11-01-10.png
100a8a570e4267b04944bce9e1c48941.png 有大佬知道这个问题怎么解决吗，现在试过重装px4 重装gazebo了，但都没用，无论是make px4_sitl gazebo还是图片上这个都报错，但是能在jmavsim上仿真。
妫€娴嬪埌绋嬪簭鍙戠敓寮傚父閫€鍑猴紝璇锋墦寮€锛歨ttps://fishros.org.cn/forum 鎼哄甫濡備笅鍐呭杩涜鍙嶉
鏍囬锛氫娇鐢ㄤ竴閿畨瑁呰繃绋嬩腑閬囧埌绋嬪簭宕╂簝
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_install_ros.py", line 417, in run self.install_ros() File "/tmp/fishinstall/tools/tool_install_ros.py", line 404, in install_ros self.check_sys_source() File "/tmp/fishinstall/tools/tool_install_ros.py", line 220, in check_sys_source tool.change_sys_source() File "/tmp/fishinstall/tools/tool_config_system_source.py", line 302, in change_sys_source source = self.replace_source(failed_sources) File "/tmp/fishinstall/tools/tool_config_system_source.py", line 294, in replace_source FileUtils.new('/etc/apt/','sources.list',template.replace("<code-name>",codename).replace('<sources>',source)) File "/tmp/fishinstall/tools/base.py", line 1222, in new with open(path+name,"w") as f: PermissionError: [Errno 13] Permission denied: '/etc/apt/sources.list'鏈杩愯璇︾粏鏃ュ織鏂囦欢宸蹭繚瀛樿嚦 /tmp/fishros_install.log
ModuleNotFoundError: No module named 'demo_python_pkg.python_node'这个报错怎么解决啊 第二章反复跟着做的
02f29b05-5673-4138-bf6a-a25d7b266a56-5bcdc4cb26684e464e6683cbea4aed83.jpg
在运行小鱼课程的fishbot的led灯点亮、imu测量、超声波测量等项目考录到esp32后，OLED显示屏就不亮了。
这是什么原因，怎么修复？
---众多工具，等君来用---
ROS相关:
[1]:一键安装(推荐):ROS(支持ROS/ROS2,树莓派Jetson)
[3]:一键安装:rosdep(小鱼的rosdepc,又快又好用)
[4]:一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择)
[9]:一键安装:Cartographer(18 20测试通过,16未测. updateTime 20240125)
[11]:一键安装:ROS Docker版(支持所有版本ROS/ROS2)
[16]:一键安装：系统自带ROS (！！警告！！仅供特殊情况下使用)
常用软件:
[2]:一键安装:github桌面版(小鱼常用的github客户端)
[6]:一键安装:NodeJS环境
[7]:一键安装:VsCode开发工具
[8]:一键安装:Docker
[10]:一键安装:微信(可以在Linux上使用的微信)
[12]:一键安装:PlateformIO MicroROS开发环境(支持Fishbot)
[15]:一键安装：QQ for Linux
配置工具:
[5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统)
[13]:一键配置:python国内源
[17]:一键配置: Docker代理(支持VPN+代理服务两种模式)
请输入[]内的数字以选择:1
Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_install_ros.py -O /tmp/fishinstall/tools/tool_install_ros.py --no-check-certificate]
[-][0.18s] CMD Result:success
Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_config_rosenv.py -O /tmp/fishinstall/tools/tool_config_rosenv.py --no-check-certificate]
[-][0.12s] CMD Result:success
Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_config_system_source.py -O /tmp/fishinstall/tools/tool_config_system_source.py --no-check-certificate]
[-][0.14s] CMD Result:success
欢迎使用一键安装ROS和ROS2,支持树莓派Jetson,本工具由作者小鱼提供
欢迎使用ROS开箱子工具，本工具由[鱼香ROS]小鱼贡献..
小鱼:检测当前系统ubuntu20.04:focal 支持一键安装ROS
=========接下来这一步很很很很重要，如果不知道怎么选请选择1========
RUN Choose Task:[请输入括号内的数字]
新手或首次安装一定要一定要一定要换源并清理三方源，换源!!!系统默认国外源容易失败!!
[1]:更换系统源再继续安装
[2]:不更换继续安装
0:quit
请输入[]内的数字以选择:1
RUN Choose Task:[请输入括号内的数字]
请选择换源方式,如果不知道选什么请选2
[1]:仅更换系统源
[2]:更换系统源并清理第三方源
0:quit
请输入[]内的数字以选择:2
Run CMD Task:[sudo rm -rf /etc/apt/sources.list]
[-][0.00s] CMD Result:success
删除一个资源文件
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d]
[-][0.00s] CMD Result:success
Run CMD Task:[sudo mkdir -p /etc/apt/sources.list.d]
[-][0.00s] CMD Result:success
源选择方式说明:
自动测速选择最快的源: 系统将自动测试各个源的速度，并选择最快的源 根据测速结果手动选择源: 系统将测试各个源的速度，然后让您从测试结果中选择RUN Choose Task:[请输入括号内的数字]
请选择源的选择方式
[1]:自动测速选择最快的源
[2]:根据测速结果手动选择源
0:quit
请输入[]内的数字以选择:1
Run CMD Task:[dpkg --print-architecture]
[-][0.01s] CMD Result:success
检测到当前系统:ubuntu 架构:arm64 代号:focal,正在为你搜索适合的源...
搜索到可用源:['https://ports.ubuntu.com/ubuntu-ports', 'https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports', 'https://ports.ubuntu.com/ubuntu-ports', 'https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports', 'http://ports.ubuntu.com/ubuntu-ports', 'http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports', 'http://ports.ubuntu.com/ubuntu-ports', 'http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports']
接下来将进行自动测速以为您选择最快的源:
为您选择最快镜像源:https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports
创建文件:/etc/apt/sources.list
替换镜像源完成，尝试进行更新....
Run CMD Task:[sudo apt update]
[-][3.95s] CMD Result:success
搞定了,不信你看,累死宝宝了，还不快去给小鱼点个赞~
['Hit:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal InRelease', 'Hit:2 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates InRelease', 'Hit:3 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-backports InRelease', 'Hit:4 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security InRelease', 'Reading package lists...', 'Building dependency tree...', 'Reading state information...', "143 packages can be upgraded. Run 'apt list --upgradable' to see them."]
镜像更新完成.....
============正在添加ROS源密钥=================
Run CMD Task:[sudo apt update]
[-][4.18s] CMD Result:success
Run CMD Task:[sudo apt search curl ]
[-][1.37s] CMD Result:success
Run CMD Task:[sudo apt install curl -y]
[-][1.33s] CMD Result:code:100
Run CMD Task:[sudo apt search gnupg2 ]
[-][1.30s] CMD Result:success
Run CMD Task:[sudo apt install gnupg2 -y]
[-][1.42s] CMD Result:code:100
正在挑选最快的密钥服务:['https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc', 'https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc']
https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc 延时:0.15s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc 延时:0.48s已自动选择最快密钥服务:https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc
Run CMD Task:[curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -]
[-][0.28s] CMD Result:code:255
Run CMD Task:[curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -]
[-][0.28s] CMD Result:code:255
Run CMD Task:[sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654]
[-][0.21s] CMD Result:code:255
导入密钥失败，开始更换导入方式并二次尝试...
Run CMD Task:[sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654]
[-][0.30s] CMD Result:code:255
Run CMD Task:[dpkg --print-architecture]
[-][0.01s] CMD Result:success
根据您的系统，为您推荐安装源为['http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/', 'http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/']
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][4.04s] CMD Result:code:100
apt更新失败,后续程序可能会继续尝试...,[]
Run CMD Task:[sudo apt search ros-base ]
[-][1.40s] CMD Result:success
换源后更新失败，第二次开始切换源，尝试更换ROS2源为华为源！
根据您的系统，为您推荐安装源为['https://repo.huaweicloud.com/ros/ubuntu/', 'https://repo.huaweicloud.com/ros2/ubuntu/']
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d/ros-fish.list]
[-][0.00s] CMD Result:success
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][4.52s] CMD Result:code:100
apt更新失败,后续程序可能会继续尝试...,[]
Run CMD Task:[sudo apt search ros-base ]
[-][1.40s] CMD Result:success
换源后更新失败，第三次开始切换源，尝试使用https-ROS官方源～！
根据您的系统，为您推荐安装源为['https://packages.ros.org/ros/ubuntu/', 'https://packages.ros.org/ros2/ubuntu/']
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d/ros-fish.list]
[-][0.00s] CMD Result:success
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][1.80s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [/][1.80s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [/][1.90s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [/][2.00s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [/][2.10s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [/][2.20s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [][2.31s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.31s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.40s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.50s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.60s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.70s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.80s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.90s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.00s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.10s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.21s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.31s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.41s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.51s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.61s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.71s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.81s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.91s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [-][4.11s] CMD Result:code:100
apt更新失败,后续程序可能会继续尝试...,[]
Run CMD Task:[sudo apt search ros-base ]
[-][1.40s] CMD Result:success
换源后更新失败，第四次开始切换源，尝试更换ROS源为http-ROS官方源！
根据您的系统，为您推荐安装源为['http://packages.ros.org/ros/ubuntu/', 'http://packages.ros.org/ros2/ubuntu/']
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d/ros-fish.list]
[-][0.00s] CMD Result:success
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][4.41s] CMD Result:code:100
apt更新失败,后续程序可能会继续尝试...,[]
Run CMD Task:[sudo apt search ros-base ]
[-][1.40s] CMD Result:success
Run CMD Task:[sudo apt update]
[-][4.32s] CMD Result:code:100
apt更新失败,后续程序可能会继续尝试...,[]
四次换源后都失败了，请及时联系小鱼获取解决方案并处理！
Run CMD Task:[sudo apt search ros-base ]
[-][1.33s] CMD Result:success
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
82cecbce-a0b0-4a07-81cd-ef4dfcb3a072-image.png
ROS2: Humble
Arch: Arm64
Ubuntu: 22.04
Gazebo Version: Gazebo Fortress
已经提问过AI，但还是无法解决
~/Desktop/mysh ❯ ros2 launch sim_world import_sim_world.launch.py 13:24:47 [INFO] [launch]: All log files can be found below /home/orin/.ros/log/2025-09-11-13-24-51-165552-jetson-1385478 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ign gazebo-1]: process started with pid [1385506] [ign gazebo-1] [Wrn] [Conversions.cc:722] <gui><camera> can't be converted yet [ign gazebo-1] [Dbg] [gz.cc:161] Subscribing to [/gazebo/starting_world]. [ign gazebo-1] [Dbg] [gz.cc:163] Waiting for a world to be set from the GUI... [ign gazebo-1] [Msg] Received world [/home/orin/ros2_ws/install/sim_world/share/sim_world/worlds/custom_room.world] from the GUI. [ign gazebo-1] [Dbg] [gz.cc:167] Unsubscribing from [/gazebo/starting_world]. [ign gazebo-1] [Msg] Ignition Gazebo Server v6.17.0 [ign gazebo-1] [Msg] Loading SDF world file[/home/orin/ros2_ws/install/sim_world/share/sim_world/worlds/custom_room.world]. [ign gazebo-1] [Msg] Serving entity system service on [/entity/system/add] [ign gazebo-1] [Msg] Loaded level [3] [ign gazebo-1] [Msg] No systems loaded from SDF, loading defaults [ign gazebo-1] [Dbg] [ServerConfig.cc:1043] Loaded (3) plugins from file [/home/orin/.ignition/gazebo/6/server.config] [ign gazebo-1] [Dbg] [Physics.cc:804] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/aarch64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so] [ign gazebo-1] [Dbg] [SystemManager.cc:73] Loaded system [gz::sim::systems::Physics] for entity [1] [ign gazebo-1] [Msg] Create service on [/world/default/create] [ign gazebo-1] [Msg] Remove service on [/world/default/remove] [ign gazebo-1] [Msg] Pose service on [/world/default/set_pose] [ign gazebo-1] [Msg] Pose service on [/world/default/set_pose_vector] [ign gazebo-1] [Msg] Light configuration service on [/world/default/light_config] [ign gazebo-1] [Msg] Physics service on [/world/default/set_physics] [ign gazebo-1] [Msg] SphericalCoordinates service on [/world/default/set_spherical_coordinates] [ign gazebo-1] [Msg] Enable collision service on [/world/default/enable_collision] [ign gazebo-1] [Msg] Disable collision service on [/world/default/disable_collision] [ign gazebo-1] [Msg] Material service on [/world/default/visual_config] [ign gazebo-1] [Msg] Material service on [/world/default/wheel_slip] [ign gazebo-1] [Dbg] [SystemManager.cc:73] Loaded system [gz::sim::systems::UserCommands] for entity [1] [ign gazebo-1] [Dbg] [SystemManager.cc:73] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [ign gazebo-1] [Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control] [ign gazebo-1] [Msg] Serving GUI information on [/world/default/gui/info] [ign gazebo-1] [Msg] World [default] initialized with [default_physics] physics profile. [ign gazebo-1] [Msg] Serving world SDF generation service on [/world/default/generate_world_sdf] [ign gazebo-1] [Msg] Serving world names on [/gazebo/worlds] [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:242:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].[Msg] Ignition Gazebo GUI v6.17.0 [ign gazebo-1] [Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]... [ign gazebo-1] [Dbg] [Application.cc:92] Initializing application. [ign gazebo-1] [GUI] [Dbg] [Application.cc:555] Create main window [ign gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get] [ign gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient. [ign gazebo-1] [GUI] [Dbg] [PathManager.cc:55] Received resource paths. [ign gazebo-1] [GUI] [Dbg] [Gui.cc:391] Requesting GUI from [/world/default/gui/info]... [ign gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/default/state]... [ign gazebo-1] [GUI] [Msg] Loading config [/home/orin/.ignition/gazebo/6/gui.config] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [MinimalScene] [ign gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [EntityContextMenuPlugin] [ign gazebo-1] [GUI] [Msg] Added plugin [Entity Context Menu] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [GzSceneManager] [ign gazebo-1] [GUI] [Msg] Added plugin [Scene Manager] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [InteractiveViewControl] [ign gazebo-1] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control] [ign gazebo-1] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual] [ign gazebo-1] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity] [ign gazebo-1] [GUI] [Msg] Added plugin [Interactive view control] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [CameraTracking] [ign gazebo-1] [GUI] [Msg] Added plugin [Camera tracking] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so] [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [MarkerManager] [ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats] [ign gazebo-1] [GUI] [Msg] Added plugin [Marker Manager] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [SelectEntities] [ign gazebo-1] [GUI] [Msg] Added plugin [Select entities] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Spawn] [ign gazebo-1] [GUI] [Msg] Added plugin [Spawn] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [VisualizationCapabilities] [ign gazebo-1] [GUI] [Msg] View as transparent service on [/gui/view/transparent] [ign gazebo-1] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes] [ign gazebo-1] [GUI] [Msg] View center of mass service on [/gui/view/com] [ign gazebo-1] [GUI] [Msg] View inertia service on [/gui/view/inertia] [ign gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions] [ign gazebo-1] [GUI] [Msg] View joints service on [/gui/view/joints] [ign gazebo-1] [GUI] [Msg] View frames service on [/gui/view/frames] [ign gazebo-1] [GUI] [Msg] Added plugin [Visualization capabilities] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl] [ign gazebo-1] [GUI] [Msg] Using world control service [/world/default/control] [ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats] [ign gazebo-1] [GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server [ign gazebo-1] [GUI] [Msg] Added plugin [World control] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libWorldControl.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats] [ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats] [ign gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window [ign gazebo-1] [Wrn] [Model.hh:69] [Wrn] [Model.hh:69] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.with //pose/@relative_to attribute. [ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.with //pose/@relative_to attribute.Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have `operator<<`. Component will not be serialized. [ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x" [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libWorldStats.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes] [ign gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Lights] [ign gazebo-1] [GUI] [Msg] Added plugin [Lights] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl] [ign gazebo-1] [GUI] [Dbg] [TransformControl.cc:222] Legacy mode is disabled; this plugin must be used with MinimalScene. [ign gazebo-1] [GUI] [Msg] Added plugin [Transform control] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Screenshot] [ign gazebo-1] [GUI] [Msg] Screenshot service on [/gui/screenshot] [ign gazebo-1] [GUI] [Msg] Added plugin [Screenshot] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libScreenshot.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [CopyPaste] [ign gazebo-1] [GUI] [Msg] Added plugin [Copy/Paste] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [ComponentInspector] [ign gazebo-1] [GUI] [Msg] Added plugin [Component inspector] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [EntityTree] [ign gazebo-1] [GUI] [Msg] Added plugin [Entity tree] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:296] Loading window config [ign gazebo-1] [GUI] [Msg] Using server control service [/server_control] [ign gazebo-1] [GUI] [Dbg] [Application.cc:569] Applying config [ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2] [ign gazebo-1] [GUI] [Dbg] [MinimalScene.cc:602] Create scene [scene] [ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]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ros1(Noetic)中要如何使用Cartographer只根据激光雷达的点云数据建立3D图？
我目前使用的激光雷达是速腾16线激光雷达，可以读出数据，但是要怎么配置Cartographer才能进行3D建图，期望大概是下面这种效果e0512f4b-c1c3-4632-bb1c-5ff6d11fb27c-image.png
通过windows官方安装的wsl（ubuntu）可以正常安装使用ros吗，还是需要执行其他步骤才行
/* Get all possible data from MPU6050
* Accelerometer values are given as multiple of the gravity [1g = 9.81 m/s²]
* Gyro values are given in deg/s
* Angles are given in degrees
* Note that X and Y are tilt angles and not pitch/roll.
*
* License: MIT
*/
#include <Arduino.h>
#include <micro_ros_platformio.h>
#include <WiFi.h>
#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include "Wire.h"
#include <MPU6050_light.h>
#include <Esp32McpwmMotor.h>
#include <Esp32PcntEncoder.h>
#include "geometry_msgs/msg/twist.h" //消息接口
#include "PidController.hpp"
#include "Kinematics.hpp"
//定义一些与micro相关的结构体对象
rcl_allocator_t allocator; //用于内存分配
rclc_support_t support; //用于存储时钟，为内存分配器和上下文提供支持
rclc_executor_t executor; //用于管理订阅和计时器回调的执行
rcl_node_t node; //节点
rcl_subscription_t sub_cmd_vel; //订阅者
geometry_msgs__msg__Twist msg_cmd_vel; //消息对象
Esp32McpwmMotor motor;
Esp32PcntEncoder encoder[2]; // 两个编码器
MyPidController pidcontroller[2];
Kinematics kinematics;
float out_line_speed = 50; // mm/s
float out_angle_speed = 0.1; // '/s 弧度每秒
float left_speed = 0;
float right_speed = 0;
// int64_t pre_time = 0;
// int64_t last_ticks[2] = {0, 0};
// int64_t delta_tick[2] = {0, 0};
// float current_speed[2] = {0, 0};
void twist_callback(const void *msgin)
{
const geometry_msgs__msg__Twist *msg = (const geometry_msgs__msg__Twist *)msgin;
// 线速度
out_line_speed = msg->linear.x * 1000; // m/s 转化成 mm/s
// 角速度
out_angle_speed = msg->angular.z; // 弧度每秒
//计算目标线速度角速度下的左右轮速度
kinematics.kinematics_inverse(out_line_speed, out_angle_speed, &left_speed, &right_speed);
Serial.printf("Target speed: {left motor speed: %f, right motor speed: %f}\n", left_speed, right_speed);
pidcontroller[0].update_target(left_speed); //设置目标速度, 这里为0.15m/s
pidcontroller[1].update_target(right_speed); //设置目标速度
}
//pid测试函数
// void motoSpeedControl() {
// // //获取当前轮上速度
// int64_t dt = millis() - pre_time; //ms
// pre_time = millis();
// delta_tick[0] = encoder[0].getTicks() - last_ticks[0];
// delta_tick[1] = encoder[1].getTicks() - last_ticks[1];
// current_speed[0] = delta_tick[0] * 0.103233 / dt * 1000; //mm/s
// current_speed[1] = delta_tick[1] * 0.103233 / dt * 1000;
// last_ticks[0] = encoder[0].getTicks();
// last_ticks[1] = encoder[1].getTicks();
// pre_time = millis();
// //调用pid控制器计算输入电机的占空比, update函数返回一个小数，但是这里要求输入整形，因此这里会对float进行截断
// motor.updateMotorSpeed(0, (int16_t) pidcontroller[0].update(current_speed[0]));
// motor.updateMotorSpeed(1, (int16_t) pidcontroller[1].update(current_speed[1]));
// }
// 线程处理函数，用于处理micro-ros的任务
void micro_ros_task(void *arg) {
// 1.设置传输协议，建立连接
IPAddress agent_ip; //即上位机的ip
agent_ip.fromString("192.168.0.191");
// 连接wifi
set_microros_wifi_transports("super", "88888888", agent_ip, 8888);
delay(3000);
// 2.初始化内存分配器
allocator = rcl_get_default_allocator();
// 3.初始化rclc支持结构体
rclc_support_init(&support, 0, NULL, &allocator);
// 4.创建节点
rclc_node_init_default(&node, "fishbot_motor_control", "", &support);
// 5.初始化执行器
unsigned int num_handles = 1; // 订阅者和定时器的数量
rclc_executor_init(&executor, &support.context, num_handles, &allocator);
// 初始化订阅者，并将其添加到执行器中
rclc_subscription_init_best_effort(&sub_cmd_vel, &node,
ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist),
"/cmd_vel");
rclc_executor_add_subscription(&executor, &sub_cmd_vel, &msg_cmd_vel, &twist_callback, ON_NEW_DATA);
// 6.进入循环，处理micro-ros任务
rclc_executor_spin(&executor);
}
void setup()
{
Serial.begin(115200);
//初始化电机和编码器
motor.attachMotor(0, 22, 23); // 电机1连接到引脚22和23
motor.attachMotor(1, 12, 13); // 电机2连接到引脚12和13
encoder[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接
encoder[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接
//pid控制器初始化
pidcontroller[0].update_pid(0.625, 0.125, 0); //设置PID参数
pidcontroller[1].update_pid(0.625, 0.125, 0); //设置PID参数
pidcontroller[0].out_limit(-100, 100); //设置输出限制
pidcontroller[1].out_limit(-100, 100); //设置输出限制
//设置运动学参数初始化
kinematics.set_motor_param(0, 0.103233); //左轮每个脉冲对应的距离
kinematics.set_motor_param(1, 0.103233); //右轮每个脉冲对应的距离
kinematics.set_wheel_distance(175.0); //轮间距175mm
//计算目标线速度角速度下的左右轮速度
kinematics.kinematics_inverse(out_line_speed, out_angle_speed, &left_speed, &right_speed);
Serial.printf("Target speed: {left motor speed: %f, right motor speed: %f}\n", left_speed, right_speed);
pidcontroller[0].update_target(left_speed);
pidcontroller[1].update_target(right_speed);
// 创建一个任务来处理micro-ros的通信
// 以下两种方式使用过后均导致小车重启
xTaskCreate(micro_ros_task, "microros_task", 10240, NULL, 1, NULL);
// xTaskCreatePinnedToCore(micro_ros_task, "microros_task", 10240, NULL, 1, NULL, 1);
}
void loop()
{
delay(10);
//pid测试
// motoSpeedControl();
// Serial.printf("Current speed: {left motor speed: %f, right motor speed: %f}\n",
// current_speed[0], current_speed[1]);
kinematics.update_motor_speed(millis(), encoder[0].getTicks(), encoder[1].getTicks());
//调用pid控制器计算输入pwm的占空比, update函数返回一个小数，但是这里要求输入整形，因此这里会对float进行截断
motor.updateMotorSpeed(0, (int16_t) pidcontroller[0].update(kinematics.get_motor_speed(0)));
motor.updateMotorSpeed(1, (int16_t) pidcontroller[1].update(kinematics.get_motor_speed(1)));
// 打印两轮速度
// Serial.printf("Current speed: {left motor speed: %f, right motor speed: %f}\n",
// kinematics.get_motot_speed(0), kinematics.get_motot_speed(1));
// 打印里程计信息
Serial.printf("Odom: {x: %f, y: %f, angle: %f}\n",
kinematics.get_odom().x, kinematics.get_odom().y, kinematics.get_odom().angle);
}
已经测试过，使用这条语句xTaskCreate(micro_ros_task, "microros_task", 10240, NULL, 1, NULL);添加任务后，板子运行一小段时间就会自动重启，注释掉这条语句板子的能正常运行并且功能正常。
重启时串口打印信息如下：
Odom: {x: 0.172388, y: 0.032440, angle: 0.361021} Odom: {x: 0.172919, y: 0.032642, angle: 0.362791} Odom: {x: 0.173449, y: 0.032844, angle: 0.364560} Odom: {x: 0.173931, y: 0.033029, angle: 0.365740} Guru Meditation Error: Core 0 panic'ed (IllegalInstruction). Exception was unhandled. Core 0 register dump: PC : 0x6d6f682f PS : 0x00060530 A0 : 0x801451f9 A1 : 0x3ffb4830 A2 : 0x3ffcd378 A3 : 0x3ffb4930 A4 : 0x00000018 A5 : 0x3ffb486f A6 : 0x3ffcd411 A7 : 0x00000054 A8 : 0x8015943c A9 : 0x3ffb47f0 A10 : 0x3ffc3f78 A11 : 0x3ffb4930 A12 : 0x00000018 A13 : 0x00000001 A14 : 0x00000000 A15 : 0x00000001 SAR : 0x0000001b EXCCAUSE: 0x00000000 EXCVADDR: 0x00000000 LBEG : 0x400899d0 LEND : 0x400899e6 LCOUNT : 0xffffffff Backtrace: 0x6d6f682c:0x3ffb4830 |<-CORRUPTED ELF file SHA256: 69f1953c41a5adb4 Rebooting... ets Jul 29 2019 12:21:46 rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT) configsip: 0, SPIWP:0xee clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 mode:DIO, clock div:2 load:0x3fff0030,len:1184 load:0x40078000,len:13232 load:0x40080400,len:3028 entry 0x400805e4 Target speed: {left motor speed: 41.250000, right motor speed: 58.750000} Odom: {x: 0.000619, y: 0.000000, angle: 0.000000} Odom: {x: 0.001239, y: 0.000000, angle: 0.000000} Odom: {x: 0.001910, y: 0.000001, angle: 0.001770} Odom: {x: 0.002323, y: 0.000002, angle: 0.001770} Odom: {x: 0.002736, y: 0.000003, angle: 0.002950} Odom: {x: 0.003097, y: 0.000004, angle: 0.003539} Odom: {x: 0.003355, y: 0.000005, angle: 0.004129} Odom: {x: 0.003665, y: 0.000007, angle: 0.005309}该问题与这篇问题帖子所描述情况相同，并且无法通过修改num_handles为1来解决。
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