抱

下图是rviz2显示的里程计前进就会拐弯

#include <Arduino.h> #include <Esp32PcntEncoder.h> #include <Esp32McpwmMotor.h> #include <PidController.h> #include <Kinematics.h> // 引入Microros和wifi相关的库 #include <WiFi.h> #include <micro_ros_platformio.h> #include <rcl/rcl.h> #include <rclc/rclc.h> #include <rclc/executor.h> #include <geometry_msgs/msg/twist.h> // 消息接口 #include <nav_msgs/msg/odometry.h>//里程计消息接口 #include <micro_ros_utilities/string_utilities.h>//引入字符串内存分配初始化工具 // 声明一些相关的结构体对象 rcl_allocator_t allocator; // 内存分配器，用于动态内存分配管理 rclc_support_t support; // 用于存储时钟，内存分配器和上下文，用于提供支持 rclc_executor_t executor; // 执行器，用于管理订阅和计时器回调的执行 rcl_node_t node; // 节点，用于创建节点 rcl_subscription_t sub_cmd_vel; // 创建一个订阅者 geometry_msgs__msg__Twist msg_cmd_vel; // 订阅到的数据存储到这里 rcl_publisher_t pub_odom;//创建一个里程计发布者 nav_msgs__msg__Odometry msg_odom;//里程计消息存储在这 rcl_timer_t timer;//定时器可以定时调用某个函数 Esp32PcntEncoder encoders[2]; // 创建一个数组用于存储两个编码器 Esp32McpwmMotor motor; // 创建一个名为motor的对象，用于控制电机 PidController pid_controller[2]; Kinematics kinematics; float target_linear_speed = 0.0; // 单位 毫米每秒 float target_angular_speed = 0.0; // 单位 弧度每秒 float out_left_speed = 0.0; // 输出的左右轮速度，不是反馈的左右轮速度 float out_right_speed = 0.0; // 定时器的回调函数 void timer_callback(rcl_timer_t* timer,int64_t last_call_time) { // 完成里程计的发布 odom_t odom = kinematics.get_odom(); // 获取当前的里程计 int64_t stamp = rmw_uros_epoch_millis(); // 获取当前的时间 msg_odom.header.stamp.sec = static_cast<int32_t>(stamp/1000); // 秒部分 msg_odom.header.stamp.nanosec = static_cast<int32_t>((stamp%1000)*1e6); // 纳秒部分 msg_odom.pose.pose.position.x = odom.x; msg_odom.pose.pose.position.y = odom.y; msg_odom.pose.pose.orientation.w = cos(odom.angle*0.5); msg_odom.pose.pose.orientation.x = 0; msg_odom.pose.pose.orientation.y = 0; msg_odom.pose.pose.orientation.z = sin(odom.angle*0.5); msg_odom.twist.twist.linear.x = odom.linear_speed; msg_odom.twist.twist.angular.z = odom.angular_speed; // 发布里程计，把数据发出去 if(rcl_publish(&pub_odom,&msg_odom,NULL)!=RCL_RET_OK) { Serial.println("error: odom pub failed!"); } } void twist_callback(const void * msg_in) { // 将受到的消息指针转换成 geometry_msgs__msg__Twist 类型的指针 const geometry_msgs__msg__Twist* msg = (const geometry_msgs__msg__Twist*)msg_in; target_linear_speed = msg->linear.x * 1000; target_angular_speed = msg->angular.z; kinematics.kinematics_inverse(target_linear_speed, target_angular_speed, &out_left_speed, &out_right_speed); Serial.printf("OUT:left_speed=%f,right_speed=%f\n", out_left_speed, out_right_speed); pid_controller[0].update_target(out_left_speed); pid_controller[1].update_target(out_right_speed); } // 单独创建一个任务运行 micro-ROS 相当于一个线程 void microros_task(void *args) { // 1.设置传输协议并延迟一段时间等待设置的完成 IPAddress agent_ip; agent_ip.fromString("192.168.3.149"); // 设置agent的IP地址 set_microros_wifi_transports("HUAWEI-R1CP6X", "xqdjx1703", agent_ip, 8888); // 设置传输协议 delay(3000); // 等待2秒,等待WIFI连接 // 2.初始化内存分配器 allocator = rcl_get_default_allocator(); // 获取默认的内存分配器 // 3.初始化支持 rclc_support_init(&support, 0, NULL, &allocator); // 初始化支持 // 4.初始化节点 rclc_node_init_default(&node, "fishbot_motion_control", "", &support); // 初始化节点 // 5.初始化执行器 unsigned int num_handles = 2; // 订阅和计时器的回调数量,注意这是一个要改的参数 rclc_executor_init(&executor, &support.context, num_handles, &allocator); // 初始化执行器 // 初始化订阅者，并将其添加到执行其中 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); //初始化msgs初始化主机和从机 msg_odom.header.frame_id =micro_ros_string_utilities_set(msg_odom.header.frame_id,"odom"); msg_odom.child_frame_id =micro_ros_string_utilities_set(msg_odom.child_frame_id,"base_footprint"); //初始化发布者和定时器 rclc_publisher_init_best_effort(&pub_odom,&node,ROSIDL_GET_MSG_TYPE_SUPPORT(nav_msgs,msg,Odometry),"/odom"); rclc_timer_init_default(&timer,&support,RCL_MS_TO_NS(50),timer_callback); rclc_executor_add_timer(&executor,&timer); //时间同步 while(!rmw_uros_epoch_synchronized()) { rmw_uros_sync_session(1000);//超时时间 delay(10); } // 循环执行器 rclc_executor_spin(&executor); } // v=w*r // r = v/w = 0.05/0.1 = 0.5 0.02/0.1 = 0.2 m void setup() { // 初始化串口 Serial.begin(115200); // 初始化串口通信，设置通信速率为115200 // 初始化电机驱动器 motor.attachMotor(0, 22, 23); // 将电机0连接到引脚22和引脚23 motor.attachMotor(1, 12, 13); // 将电机1连接到引脚12和引脚13 // 初始化编码器 encoders[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接 encoders[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接 // 初始化PID控制器的参数 pid_controller[0].update_pid(0.625, 0.125, 0.0); pid_controller[1].update_pid(0.625, 0.125, 0.0); pid_controller[0].out_limit(-100, 100); pid_controller[1].out_limit(-100, 100); // 初始化运动学参数 kinematics.set_wheel_distance(175); // mm kinematics.set_motor_param(0, 0.105805); kinematics.set_motor_param(1, 0.105805); // 测试下运动学逆解 // 创建一个任务运行 micro-ROS xTaskCreate(microros_task, "microros_task", 10240, NULL, 1, NULL); } void loop() { delay(10); // 等待10毫秒 kinematics.update_motor_speed(millis(), encoders[0].getTicks(), encoders[1].getTicks()); // 记得调用更新电机速度函数 motor.updateMotorSpeed(0, pid_controller[0].update( kinematics.get_motor_speed(0))); motor.updateMotorSpeed(1, pid_controller[1].update(kinematics.get_motor_speed(1))); // Serial.printf("speed1=%d,speed2=%d\n",kinematics.get_motor_speed(0),kinematics.get_motor_speed(1)); // Serial.printf("x,y,yaw=%f,%f,%f\n", kinematics.get_odom().x, kinematics.get_odom().y, kinematics.get_odom().angle);

1e4a11f0-20be-4edb-8823-b1c5165106e2-image.png

FishBot二驱机器人
2

回复: 动手学ros 10.3.2 配置使用IMU后，出错同样的问题，我用的是虚拟的imu，启用imu'数据后也报错!截图 2025-06-05 17-24-58.png cartographer_node节点直接不见了

综合问题
1

目前可以通过Rviz2中手动标记目标点实现导航，但是我想用Nav2的API simple_commander实现导航，gotoPose和followPath方法都尝试了，分别有不同的报错：
gotoPose：开始导航后显示距离目标点的距离是0，机器人也开始转圈，转了几秒之后就显示导航失败。Rviz中的机器人模型也在一直旋转
5a3e65f7-1726-46fc-b80d-6aca59b474b7-image.png
fffd3888-e69a-41aa-8fed-80083ed06440-image.png
followPath:无法生成正常的路径
583951aa-a514-484d-b06e-2443e046c1a6-image.png
位置初始化我订阅了/initialpose话题，通过rivz2的2D pose Estimation给定位置。 调用API的代码如下图：
1552d484-593a-45b7-b2f3-e81cebc29daa-image.png

Nav2
M
编译Moveit2遇见如下问题：
--- stderr: moveit_task_constructor_core
In file included from /home/lzx/moveit2_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/stage.h:43,from/home/lzx/moveit2_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/container.h:41, from /home/lzx/moveit2_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/container_p.h:41,
from /home/lzx/moveit2_ws/src/moveit_task_constructor/core/src/container.cpp:37:
/home/lzx/moveit2_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/utils.h:47:10: fatal error: moveit/macros/class_forward.hpp: 没有那个文件或目录
47 | #include <moveit/macros/class_forward.hpp>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:76：src/CMakeFiles/moveit_task_constructor_core.dir/container.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:364：src/CMakeFiles/moveit_task_constructor_core.dir/all] 错误 2
gmake[1]: *** 正在等待未完成的任务....
gmake: *** [Makefile:146：all] 错误 2

Failed <<< moveit_task_constructor_core [6.27s, exited with code 2]

Summary: 10 packages finished [24.3s]
1 package failed: moveit_task_constructor_core
1 package had stderr output: moveit_task_constructor_core
4 packages not processed

请问有什么解决方法？

动手学ROS2
2

0f866415-c861-4f71-9ee0-ab7991288197-image.png

marlin2.1.1

工具软件
2

老师，我这里启用MicroROS服务，报错啥意思，我那个服务正常安装了

f5e342f8-197a-4398-a296-52bb959e3a1a-b9a9133f-20a0-40c2-aaa2-7d62a3edc226.png

VIP问答专区
2

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/tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][26.85s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][26.95s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][27.05s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][27.15s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][27.25s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][27.35s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][27.45s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][27.56s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][27.66s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][27.76s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][27.86s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][27.96s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][28.06s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][28.16s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][28.26s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][28.36s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][28.46s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][28.56s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][28.66s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][28.76s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][28.86s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][28.96s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][29.06s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][29.16s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][29.26s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][29.36s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][29.47s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][29.57s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][29.67s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][29.77s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][29.87s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][29.97s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][30.07s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][30.17s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][30.27s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][30.37s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][30.47s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][30.57s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][30.67s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][30.77s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][30.87s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][30.98s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][31.08s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][31.18s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][31.28s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][31.38s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][31.48s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][31.58s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][31.68s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][31.78s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][31.88s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][31.98s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][32.08s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][32.18s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][32.28s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][32.38s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][32.48s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][32.58s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][32.68s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][32.79s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][32.89s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][32.99s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][33.09s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][33.19s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][33.29s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][33.39s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][33.49s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][33.59s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][33.69s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][33.79s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][33.89s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][33.99s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][34.09s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][34.19s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][34.29s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][34.39s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][34.49s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][34.59s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][34.70s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][34.80s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][34.90s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][35.00s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][35.10s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][35.20s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][35.30s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][35.40s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][35.50s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][35.60s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][35.70s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][35.80s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][35.90s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][36.00s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][36.10s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][36.20s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][36.30s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][36.41s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][36.51s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][36.61s] Executing: /tmp/apt-key-gpghome.s0naGxNf3Z/gpg.1.sh --keyserver keys[][36.71s] Warning: apt-key output should not be parsed (stdout is not a termin[-][36.80s] CMD Result:code:2

Run CMD Task:[dpkg --print-architecture]
[-][0.00s] 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/']
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]
[][6.03s] 204 packages can be upgraded. Run 'apt list --upgradable' to see them[-][6.05s] CMD Result:success

Run CMD Task:[sudo apt search ros-base ]
[][0.69s] A package which extends 'ros_core' and includes other basic functio[-][0.69s] A package which extends 'ros_core' and includes other basic functio[][0.69s] End-Effector package: provides a ROS-based set of standard interfac[-][0.69s] Node that enables connected ROS-based devices or robots to exchange[/][0.69s] ros-noetic-ros-base/focal 1.5.0-1focal.20250521.010531 amd64 [upgrada[][0.69s] A metapackage which extends ros_core and includes other basic non-r[-][0.69s] A package which extends 'ros_core' and includes other basic functio[-][0.69s] CMD Result:success

恭喜，成功添加ROS源，接下来可以使用apt安装ROS或者使用[1]一键安装ROS安装！
Run CMD Task:[sudo apt search ros-base ]
[][0.70s] A package which extends 'ros_core' and includes other basic functio[-][0.70s] A package which extends 'ros_core' and includes other basic functio[][0.70s] End-Effector package: provides a ROS-based set of standard interfac[-][0.70s] Node that enables connected ROS-based devices or robots to exchange[/][0.70s] ros-noetic-ros-base/focal 1.5.0-1focal.20250521.010531 amd64 [upgrada[][0.70s] A metapackage which extends ros_core and includes other basic non-r[-][0.70s] A package which extends 'ros_core' and includes other basic functio[/][0.70s] A package which extends 'ros_core' and includes other basic functio[-][0.70s] CMD Result:success

RUN Choose Task:[请输入括号内的数字]
请选择你要安装的ROS版本名称(请注意ROS1和ROS2区别):
[1]:foxy(ROS2)
[2]:galactic(ROS2)
[3]:noetic(ROS1)
[4]:rolling(ROS2)
[0]:quit
请输入[]内的数字以选择:3
RUN Choose Task:[请输入括号内的数字]
请选择安装的具体版本(如果不知道怎么选,请选1桌面版):
[1]:noetic(ROS1)桌面版
[2]:noetic(ROS1)基础版(小)
[0]:quit
请输入[]内的数字以选择:1
Run CMD Task:[sudo apt search aptitude ]
[|][1.02s] aptitude-common/focal,focal,now 0.8.12-1ubuntu4 all [installed,automa[][1.03s] brain teaser game and trainer to have fun and to keep your brain tr[-][1.03s] CMD Result:success s)

Run CMD Task:[sudo apt install aptitude -y]
[-][1.02s] CMD Result:success

Run CMD Task:[sudo apt install ros-noetic-desktop-full -y]
Reading package lists... Done
Building dependency tree
Reading state information... Done
ros-noetic-desktop-full is already the newest version (1.5.0-1focal.20250521.014741).
0 upgraded, 0 newly installed, 0 to remove and 204 not upgraded.
Run CMD Task:[sudo apt install ros-noetic-desktop-full -y]
[-][0.50s] ros-noetic-desktop-full is already the newest version (1.5.0-1focal.2[-][0.60s] CMD Result:success

Run CMD Task:[sudo apt search python3-catkin-tools ]
[-][0.67s] CMD Result:success

Run CMD Task:[sudo apt install python3-catkin-tools -y]
[-][0.60s] CMD Result:success

Run CMD Task:[sudo apt search python3-rosdep ]
[/][0.74s] python3-rosdep-modules/focal,focal,now 0.25.1-1 all [installed,automa[-][0.74s] CMD Result:success

Run CMD Task:[sudo apt install python3-rosdep -y]
[-][0.61s] CMD Result:success

Run CMD Task:[ls /opt/ros/noetic/setup.bash]
[-][0.00s] CMD Result:success

欢迎使用一键配置ROS开发环境,本工具由作者小鱼提供
Run CMD Task:[ls /opt/ros/*/setup.bash]
[-][0.00s] CMD Result:success

正在准备配置用户目录:/home/koorui/.bashrc
当前系统包含1个ROS,已为您完成启动终端自动激活ROS环境,修改/home/koorui/.bashrc可关闭

正在准备配置用户目录:/root/.bashrc
当前系统包含1个ROS,已为您完成启动终端自动激活ROS环境,修改/root/.bashrc可关闭

恭喜你，安装成功了，再附赠你机器人学习宝藏网站：鱼香社区:https://fishros.org.cn/forum
Run CMD Task:[ls /opt/ros/noetic/setup.bash]
[-][0.00s] CMD Result:success

小鱼，黄黄的提示：您安装的是ROS1，可以打开一个新的终端输入roscore测试！
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

一键安装
小鱼小
《多协议传输控制器》使用以太网直连方式接入 ROS 系统

开始前准备：

硬件：

传输控制板*1 Type-B电源线*1 网线*1 带网口的电脑或者USB网卡*1 9~28V电源

软件：

安装Ubuntu的系统*1 安装好ROS2 Humble以上版本ROS系统 1. micro-ROS Agent 和 消息接口下载与构建

在主目录下创建，ros2_transmission_ws 目录及子目录src（其他目录也可以）

mkdir -p ~/ros2_transmission_ws/src

下载源码

cd ~/ros2_transmission_ws/src git clone http://github.fishros.org/https://github.com/fishros/micro-ROS-Agent -b humble git clone http://github.fishros.org/https://github.com/fishros/robot_interfaces git clone http://github.fishros.org/https://github.com/micro-ROS/micro_ros_msgs.git -b humble

构建工作空间

cd ~/ros2_transmission_ws/ colcon build --- Starting >>> micro_ros_agent Starting >>> robot_interfaces Finished <<< robot_interfaces [6.76s] [Processing: micro_ros_agent] --- stderr: micro_ros_agent 正克隆到 'xrceagent'... 切换到一个新分支 'ros2' HEAD 目前位于 c25243c Enable Domain Override on Reference and XML Participant (#351) CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message): The package name passed to `find_package_handle_standard_args` (tinyxml2) does not match the name of the calling package (TinyXML2). This can lead to problems in calling code that expects `find_package` result variables (e.g., `_FOUND`) to follow a certain pattern. Call Stack (most recent call first): cmake/modules/FindTinyXML2.cmake:40 (find_package_handle_standard_args) /opt/ros/humble/share/fastrtps/cmake/fastrtps-config.cmake:51 (find_package) CMakeLists.txt:153 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. --- Finished <<< micro_ros_agent [56.9s] Summary: 2 packages finished [58.9s] 1 package had stderr output: micro_ros_agent

看到：Summary: 2 packages finished [58.9s] 就表示构建成功了，中间的警告请忽略。

2.完成硬件连接

这种连接方式的特点是，通过网线将雷达和电脑(控制卡)直连，优点是稳定。

连接方式：

电脑<----Type-B|USB线----->控制板USB口
电脑<----网线----->控制板网口
电源---->控制板电源口

3.使用配置助手修改配置

打开配置助手，扫描配置，确认如下选项的值，若不是，请手动修改。

配置项 描述 默认值 transport_mode 传输模式（例如以太网静态IP配置协议） eth_static server_ip 服务器的IP地址 192.168.168.5 eth_ip 设备的以太网IP地址 192.168.168.250 server_port 服务器的端口号 8888

传输模式我们这里采用 eth_static ，静态IP模式，并设置控制板的IP地址为 192.168.168.250 ，你也可以自己根据情况设定，但需要保证，服务IP,以太网IP在同一个子网下。

设置完成后请手动或者点击配置助手的重启设备进行重启。

4. 设置电脑IP地址

为了调试方便，我们手动来修改电脑中对应接口的网卡IP地址为配置中的server_ip，在Linux中使用 ifconfig可以临时设置对应网卡的IP地址。（注意只是临时，调试阶段建议使用，正式使用请文末方法）

使用ifconfig查看所有网卡

ifconfig --- enx4ce173422378: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet6 fe80::915b:c170:f24c:844c prefixlen 64 scopeid 0x20<link> ether 4c:e1:73:42:23:78 txqueuelen 1000 (以太网) RX packets 22 bytes 7392 (7.3 KB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 136 bytes 15185 (15.1 KB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536 inet 127.0.0.1 netmask 255.0.0.0 inet6 ::1 prefixlen 128 scopeid 0x10<host> loop txqueuelen 1000 (本地环回) RX packets 879222 bytes 758350473 (758.3 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 879222 bytes 758350473 (758.3 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

可以看到我这里有一个USB网卡：enx4ce173422378 是以太网（你的可能不是这个名字，请仔细辨别）

接着我们用ifconfig来设置IP地址，

sudo ifconfig enx4ce173422378 192.168.168.5 netmask 255.255.255.0

设置完成后再次查看这个网卡的IP地址。

ifconfig enx4ce173422378 enx4ce173422378: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.168.5 netmask 255.255.255.0 broadcast 192.168.168.255 inet6 fe80::915b:c170:f24c:844c prefixlen 64 scopeid 0x20<link> ether 4c:e1:73:42:23:78 txqueuelen 1000 (以太网) RX packets 8 bytes 2688 (2.6 KB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 38 bytes 6858 (6.8 KB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

可以看到这里的地址，inet 192.168.168.5 netmask 255.255.255.0 broadcast 192.168.168.255， 已经被成功设置了。

5.运行agent,接收消息

进入到工作空间，运行agent

cd ~/ros2_transmission_ws/ source install/setup.bash ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v4 --- [1718247114.695455] info | UDPv4AgentLinux.cpp | init | running... | port: 8888 [1718247114.695599] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4 [1718247213.629429] info | Root.cpp | create_client | create | client_key: 0x17679F09, session_id: 0x81 [1718247213.629612] info | SessionManager.hpp | establish_session | session established | client_key: 0x17679F09, address: 192.168.168.250:47138 [1718247213.661143] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x17679F09, participant_id: 0x000(1) [1718247213.663314] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x000(2), participant_id: 0x000(1) [1718247213.664917] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x17679F09, publisher_id: 0x000(3), participant_id: 0x000(1) [1718247213.666583] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x17679F09, datawriter_id: 0x000(5), publisher_id: 0x000(3) [1718247213.668377] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x001(2), participant_id: 0x000(1) [1718247213.669829] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x17679F09, subscriber_id: 0x000(4), participant_id: 0x000(1) [1718247213.671514] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x17679F09, datareader_id: 0x000(6), subscriber_id: 0x000(4) [1718247213.673291] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x002(2), participant_id: 0x000(1) [1718247213.674897] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x17679F09, publisher_id: 0x001(3), participant_id: 0x000(1) [1718247213.676535] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x17679F09, datawriter_id: 0x001(5), publisher_id: 0x001(3) [1718247213.678195] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x003(2), participant_id: 0x000(1) [1718247213.679745] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x17679F09, subscriber_id: 0x001(4), participant_id: 0x000(1) [1718247213.681438] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x17679F09, datareader_id: 0x001(6), subscriber_id: 0x001(4) [1718247213.683368] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x004(2), participant_id: 0x000(1) [1718247213.685201] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x17679F09, publisher_id: 0x002(3), participant_id: 0x000(1) [1718247213.686799] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x17679F09, datawriter_id: 0x002(5), publisher_id: 0x002(3) [1718247213.688641] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x005(2), participant_id: 0x000(1) [1718247213.690344] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x17679F09, subscriber_id: 0x002(4), participant_id: 0x000(1) [1718247213.692013] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x17679F09, datareader_id: 0x002(6), subscriber_id: 0x002(4)

看到上面的日志就表示连接成功了，接着就可以尝试订阅IO状态话题，打开新的终端，输入如下命令：

cd ~/ros2_transmission_ws/ source install/setup.bash ros2 topic echo /read_io --- analog: [] digital: - 1 - 1 - 1 - 1 --- analog: [] digital: - 1 - 1 - 1 - 1 --- ...

可以看到这里每帧输出了四个数据，是四个输入IO的状态，这个话题默认以10Hz进行发布，发布频率可以修改。

使用 ros2 topic list 可以查看控制器节点可以支持的话题。

话题名称 消息接口 订阅/发布 /write_485 robot_interfaces/msg/RawUInt8 订阅 /write_can robot_interfaces/msg/CanFrame 订阅 /write_io robot_interfaces/msg/WriteIO 订阅 /read_485 robot_interfaces/msg/RawUInt8 发布 /read_can robot_interfaces/msg/CanFrame 发布 /read_io robot_interfaces/msg/ReadIO 发布

关于每个话题如何使用，可以参考例程篇介绍。

6. 永久设置静态IP地址 方法1

在 Ubuntu/Debian 系统终端中输入如下命令：

编辑/etc/network/interfaces文件：

sudo nano /etc/network/interfaces

添加或修改以下内容：

auto enx4ce173422378 iface enx4ce173422378 inet static address 192.168.168.5 netmask 255.255.255.0 gateway 192.168.168.1

保存后重启即可永久设置。

方法2

查看网络接口名称：
使用以下命令查看你的网络接口名称：

ip link

找到你要设置静态 IP 的接口名称（例如 ens33 或 enx4ce173422378）。

编辑 netplan 配置文件：
打开 netplan 配置文件，例如：

sudo nano /etc/netplan/00-installer-config.yaml

在 ethernets 部分添加以下内容（根据你的实际情况进行调整）：

network: version: 2 renderer: networkd ethernets: enx4ce173422378: addresses: [192.168.168.5/24] routes: - to: 0.0.0.0/0 via: 192.168.168.1 nameservers: addresses: [8.8.8.8, 8.8.4.4]

设置文件权限

sudo chmod 600 /etc/netplan/00-installer-config.yaml

保存并应用更改：
保存文件并应用更改：

sudo netplan apply

验证设置：
使用以下命令验证你的设置：

ip addr show enx4ce173422378 ip route show
多协议传输控制器
W

ros2 humble+ros2 control+gazebo fortress
小车可以旋转和前后移动，但无法左右平移
一下是相关代码：
包括小车底盘模型，ros2 control控制以及配置文件，和启动文件
我有点担心启动文件是否正确

<?xml version="1.0" encoding="utf-8"?> <robot name="jetauto" xmlns:xacro="http://ros.org/wiki/xacro" > <xacro:property name="M_PI" value="3.1415926535897931"/> <xacro:property name="base_link_mass" value="1.3" /> <xacro:property name="base_link_w" value="0.297"/> <xacro:property name="base_link_h" value="0.145"/> <xacro:property name="base_link_d" value="0.11255"/> <xacro:property name="wheel_link_mass" value="0.2" /> <xacro:property name="wheel_link_radius" value="0.049"/> <xacro:property name="wheel_link_length" value="0.04167"/> <link name="base_footprint"/> <joint name="base_joint" type="fixed"> <parent link="base_footprint"/> <child link="base_link"/> <origin xyz="0.0 0.0 0.005" rpy="0 0 0"/> </joint> <link name="base_link"> <xacro:box_inertial m="${base_link_mass}" w="${base_link_w}" h="${base_link_h}" d="${base_link_d}"/> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://gazebo_simulation/meshes/base_link.stl" /> </geometry> <material name="green"/> </visual> <collision> <origin xyz="${base_link_w/2.0 - 0.14810} 0 ${0.126437/2 + 0.02362364}" rpy="0 0 0" /> <geometry> <box size="${base_link_w} ${base_link_h} ${base_link_d}" /> </geometry> </collision> </link> <link name="back_shell_link"> <inertial> <origin xyz="-1.22838595456587E-05 0.00218574826309681 -0.0500522861933898" rpy="0 0 0" /> <mass value="0.0663478534899862" /> <inertia ixx="5.65277934912267E-05" ixy="-5.13394387877366E-11" ixz="-4.07561372273553E-11" iyy="4.33740893441632E-05" iyz="-5.43059341238134E-06" izz="6.86642544694324E-05" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://gazebo_simulation/meshes/back_shell_link.stl" /> </geometry> <material name="black"> </material> </visual> <!-- <collision>--> <!--<origin--> <!--xyz="0 0 0"--> <!--rpy="0 0 0" />--> <!--<geometry>--> <!--<mesh--> <!--filename="package://jetauto_description/meshes/back_shell_link.stl" />--> <!--</geometry>--> <!--</collision> --> </link> <joint name="back_shell_joint" type="fixed"> <origin xyz="-0.076481 0 0.082796" rpy="-3.1416 0 1.5708" /> <parent link="base_link" /> <child link="back_shell_link" /> </joint> <!-- wheel_right_front --> <link name="wheel_right_front_link"> <!-- <xacro:cylinder_inertial m="${wheel_link_mass}" r="${wheel_link_radius}" h="${wheel_link_length}" /> --> <xacro:sphere_inertial m="${wheel_link_mass}" r="${wheel_link_radius}"/> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://gazebo_simulation/meshes/wheel_right_front_link.stl" /> </geometry> <material name="black"/> </visual> <collision> <origin xyz="0 0 ${wheel_link_length/2.0}" rpy="0 0 0" /> <geometry> <!-- <cylinder length="${wheel_link_length}" radius="${wheel_link_radius}"/> --> <sphere radius="${wheel_link_radius}"/> </geometry> </collision> </link> <joint name="wheel_right_front_joint" type="continuous"> <origin xyz="0.097397 -0.086125 0.04508" rpy="1.5708 1.5708 0" /> <parent link="base_link" /> <child link="wheel_right_front_link" /> <axis xyz="0 0 -1" /> </joint> <!-- wheel_left_front --> <link name="wheel_left_front_link"> <!-- <xacro:cylinder_inertial m="${wheel_link_mass}" r="${wheel_link_radius}" h="${wheel_link_length}" /> --> <xacro:sphere_inertial m="${wheel_link_mass}" r="${wheel_link_radius}"/> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://gazebo_simulation/meshes/wheel_left_front_link.stl" /> </geometry> <material name="black"/> </visual> <collision> <origin xyz="0 0 -${wheel_link_length/2.0}" rpy="0 0 0" /> <geometry> <!-- <cylinder length="${wheel_link_length}" radius="${wheel_link_radius}"/> --> <sphere radius="${wheel_link_radius}"/> </geometry> </collision> </link> <joint name="wheel_left_front_joint" type="continuous"> <origin xyz="0.097397 0.086125 0.04508" rpy="1.5708 1.5708 0" /> <parent link="base_link" /> <child link="wheel_left_front_link" /> <axis xyz="0 0 -1" /> </joint> <!-- wheel_right_back --> <link name="wheel_right_back_link"> <!-- <xacro:cylinder_inertial m="${wheel_link_mass}" r="${wheel_link_radius}" h="${wheel_link_length}" /> --> <xacro:sphere_inertial m="${wheel_link_mass}" r="${wheel_link_radius}"/> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://gazebo_simulation/meshes/wheel_right_back_link.stl" /> </geometry> <material name="black"/> </visual> <collision> <origin xyz="0 0 ${wheel_link_length/2.0}" rpy="0 0 0" /> <geometry> <!-- <cylinder length="${wheel_link_length}" radius="${wheel_link_radius}"/> --> <sphere radius="${wheel_link_radius}"/> </geometry> </collision> </link> <joint name="wheel_right_back_joint" type="continuous"> <origin xyz="-0.097397 -0.086125 0.04508" rpy="1.5708 1.5708 0" /> <parent link="base_link" /> <child link="wheel_right_back_link" /> <axis xyz="0 0 -1" /> </joint> <!-- wheel_left_back --> <link name="wheel_left_back_link"> <!-- <xacro:cylinder_inertial m="${wheel_link_mass}" r="${wheel_link_radius}" h="${wheel_link_length}" /> --> <xacro:sphere_inertial m="${wheel_link_mass}" r="${wheel_link_radius}"/> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://gazebo_simulation/meshes/wheel_left_back_link.stl" /> </geometry> <material name="black"/> </visual> <collision> <origin xyz="0 0 -${wheel_link_length/2.0}" rpy="0 0 0" /> <geometry> <!-- <cylinder length="${wheel_link_length}" radius="${wheel_link_radius}"/> --> <sphere radius="${wheel_link_radius}"/> </geometry> </collision> </link> <joint name="wheel_left_back_joint" type="continuous"> <origin xyz="-0.097397 0.086125 0.04508" rpy="1.5708 1.5708 0" /> <parent link="base_link" /> <child link="wheel_left_back_link" /> <axis xyz="0 0 -1" /> </joint> <link name="mic_link"> <inertial> <origin xyz="7.37972827624667E-07 0.000380767498086923 -0.0010743560446495" rpy="0 0 0" /> <mass value="0.0234232570822793" /> <inertia ixx="1.59705800233789E-05" ixy="-5.64325349754072E-11" ixz="8.96027229707658E-11" iyy="2.23652963143563E-05" iyz="6.01204669252721E-08" izz="3.74624298483869E-05" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://gazebo_simulation/meshes/mic_link.stl" /> </geometry> <material name="black"/> </visual> <!--<collision>--> <!--<origin--> <!--xyz="0 0 0"--> <!--rpy="0 0 0" />--> <!--<geometry>--> <!--<mesh--> <!--filename="package://jetauto_description/meshes/mic_link.stl" />--> <!--</geometry>--> <!--</collision>--> </link> <joint name="mic_joint" type="fixed"> <origin xyz="-0.079228 -1.5532E-05 0.15861" rpy="0 0 1.5708" /> <parent link="base_link" /> <child link="mic_link" /> </joint> <link name="speaker_link"> <inertial> <origin xyz="0 0 0" rpy="0 0 0" /> <mass value="0" /> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://gazebo_simulation/meshes/speaker_link.stl" /> </geometry> <material name="black"/> </visual> <!--<collision>--> <!--<origin--> <!--xyz="0 0 0"--> <!--rpy="0 0 0" />--> <!--<geometry>--> <!--<mesh--> <!--filename="package://jetauto_description/meshes/speaker_link.stl" />--> <!--</geometry>--> <!--</collision>--> </link> <joint name="speaker_joint" type="fixed"> <origin xyz="-0.130292759618243 0 0.0549589364206024" rpy="0 0 0" /> <parent link="base_link" /> <child link="speaker_link" /> </joint> </robot> <?xml version="1.0" encoding="utf-8"?> <!-- XML文件声明 --> <!-- <robot name="jetauto" xmlns:xacro="http://ros.org/wiki/xacro"> 定义机器人模型，使用xacro命名空间 --> <robot name="jetauto" xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema/"> <!-- <robot name="jetauto" xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema/"> --> <!-- 定义机器人名称参数 --> <xacro:arg name="robot_name" default="jetauto"/> <!-- 包含基础配置文件 - 仅包含一次材质定义 --> <xacro:include filename="$(find gazebo_simulation)/urdf/materials.xacro"/> <!-- 包含材质定义文件 --> <xacro:include filename="$(find gazebo_simulation)/urdf/inertial_matrix.xacro"/> <!-- 包含惯性矩阵定义文件 --> <!-- 定义M_PI变量，确保所有引入的文件可用 --> <xacro:property name="M_PI" value="3.1415926535897931" /> <xacro:property name="camera_x" value="0.120" /> <!-- 包含IMU配置 --> <xacro:include filename="$(find gazebo_simulation)/urdf/imu.urdf.xacro"/> <!-- 包含IMU传感器配置文件 --> <!-- 激光雷达配置部分 --> <xacro:include filename="$(find gazebo_simulation)/urdf/lidar_a1.urdf.xacro"/> <!-- 包含A1激光雷达配置 --> <!-- JetAuto标准版配置 --> <xacro:include filename="$(find gazebo_simulation)/urdf/depth_camera.urdf.xacro"/> <!-- 包含深度相机配置 --> <xacro:include filename="$(find gazebo_simulation)/urdf/jetauto_car.urdf.xacro"/> <!-- 包含标准版底盘配置 --> <!-- 加载参数 --> <xacro:arg name="use_sim_time" default="true"/> <xacro:arg name="mecanum_control" default="true"/> <xacro:arg name="use_gazebo" default="true"/> <!-- Include and instantiate ros2_control --> <xacro:include filename="$(find gazebo_simulation)/urdf/ros2_control.xacro" /> <xacro:jetauto_ros2_control /> <!-- 应用Gazebo材质映射 --> <!-- <xacro:gazebo_material_blue reference="base_link"/> <xacro:gazebo_material_black reference="wheel_right_front_link"/> <xacro:gazebo_material_black reference="wheel_left_front_link"/> <xacro:gazebo_material_black reference="wheel_right_back_link"/> <xacro:gazebo_material_black reference="wheel_left_back_link"/> <xacro:gazebo_material_black reference="back_shell_link"/> <xacro:gazebo_material_black reference="mic_link"/> <xacro:gazebo_material_black reference="lidar_link"/> <xacro:gazebo_material_black reference="depth_cam_link"/> --> <gazebo reference='wheel_left_front_link'> <collision> <surface> <friction> <ode> <mu>1.0</mu> <mu2>0.0</mu2> <fdir1 ignition:expressed_in="base_link">1 -1 0</fdir1> </ode> </friction> </surface> </collision> </gazebo> <gazebo reference='wheel_left_back_link'> <collision> <surface> <friction> <ode> <mu>1.0</mu> <mu2>0.0</mu2> <fdir1 ignition:expressed_in="base_link">1 1 0</fdir1> </ode> </friction> </surface> </collision> </gazebo> <gazebo reference='wheel_right_front_link'> <collision> <surface> <friction> <ode> <mu>1.0</mu> <mu2>0.0</mu2> <fdir1 ignition:expressed_in="base_link">1 1 0</fdir1> </ode> </friction> </surface> </collision> </gazebo> <gazebo reference='wheel_right_back_link'> <collision> <surface> <friction> <ode> <mu>1.0</mu> <mu2>0.0</mu2> <fdir1 ignition:expressed_in="base_link">1 -1 0</fdir1> </ode> </friction> </surface> </collision> </gazebo> </robot> <?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="jetauto_ros2_control"> <ros2_control name="jetauto_hardware_interface" type="system"> <hardware> <plugin>gz_ros2_control/GazeboSimSystem</plugin> </hardware> <!-- 定义轮子 注意，在gazebo中速度属性只能使用velocity--> <!--左侧前轮--> <joint name="wheel_left_front_joint"> <command_interface name="velocity"> <param name="min">-10</param><!-- 速度大小范围 --> <param name="max">10</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> </joint> <!--右侧后轮--> <joint name="wheel_left_back_joint"> <command_interface name="velocity"> <param name="min">-10</param> <param name="max">10</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> </joint> <!--右侧前轮--> <joint name="wheel_right_front_joint"> <command_interface name="velocity"> <param name="min">-10</param> <param name="max">10</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> </joint> <!--右侧后轮--> <joint name="wheel_right_back_joint"> <command_interface name="velocity"> <param name="min">-10</param> <param name="max">10</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> </joint> <!-- IMU传感器 --> <sensor name="imu_sensor"> <state_interface name="orientation.x"/> <state_interface name="orientation.y"/> <state_interface name="orientation.z"/> <state_interface name="orientation.w"/> <state_interface name="angular_velocity.x"/> <state_interface name="angular_velocity.y"/> <state_interface name="angular_velocity.z"/> <state_interface name="linear_acceleration.x"/> <state_interface name="linear_acceleration.y"/> <state_interface name="linear_acceleration.z"/> </sensor> </ros2_control> <!-- Gazebo ros2_control插件 --> <gazebo> <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin"> <parameters>$(find gazebo_simulation)/config/jetauto_controllers.yaml</parameters> <robot_param>robot_description</robot_param> <robot_param_node>robot_state_publisher</robot_param_node> <ros> <remapping>/jetauto_base_controller/reference_unstamped:=/cmd_vel</remapping> <remapping>/jetauto_base_controller/odometry:=/odom</remapping> </ros> </plugin> </gazebo> </xacro:macro> </robot> controller_manager: ros__parameters: update_rate: 100 # Hz use_sim_time: true joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster jetauto_base_controller: type: mecanum_drive_controller/MecanumDriveController jetauto_base_controller: ros__parameters: reference_time: 1.0 front_left_wheel_command_joint_name: "wheel_left_front_joint" front_right_wheel_command_joint_name: "wheel_right_front_joint" rear_left_wheel_command_joint_name: "wheel_left_back_joint" rear_right_wheel_command_joint_name: "wheel_right_back_joint" # 运动学参数 kinematics: # wheel_separation_x: 0.194794 # wheel_separation_y: 0.17225 base_frame_offset: { x: 0.0, y: 0.0, theta: 0.0 } wheels_radius: 0.049 sum_of_robot_center_projection_on_X_Y_axis: 0.183522 # 坐标系参数 base_frame_id: "base_link" odom_frame_id: "odom" # 发布参数 publish_rate: 100 enable_odom_tf: true pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] cmd_vel_timeout: 0.5 open_loop: false use_stamped_vel: false #!/usr/bin/python3 from os.path import join from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction from launch.substitutions import LaunchConfiguration, PythonExpression, Command, PathJoinSubstitution from launch.launch_description_sources import PythonLaunchDescriptionSource from ament_index_python.packages import get_package_share_directory from launch.actions import AppendEnvironmentVariable from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare from launch_ros.parameter_descriptions import ParameterValue def generate_launch_description(): use_sim_time = LaunchConfiguration("use_sim_time", default="true") jetauto_bot_path = get_package_share_directory("gazebo_simulation") world_file = LaunchConfiguration("world_file", default=join(jetauto_bot_path, "worlds", "world.sdf")) gz_sim_share = get_package_share_directory("ros_gz_sim") pkg_gazebo_simulation = FindPackageShare("gazebo_simulation") # Launch Configurations for robot spawn #LaunchConfiguration 是启动时的“权威来源”，它们可以在运行时覆盖内部参数 robot_name = LaunchConfiguration("robot_name", default="jetauto") position_x = LaunchConfiguration("position_x", default="0.0") position_y = LaunchConfiguration("position_y", default="0.0") orientation_yaw = LaunchConfiguration("orientation_yaw", default="0.0") # File paths xacro_file = PathJoinSubstitution([ pkg_gazebo_simulation, 'urdf', 'jetauto.xacro' ]) controller_config_file = PathJoinSubstitution([ pkg_gazebo_simulation, 'config', 'jetauto_controllers.yaml' ]) # 添加更多Gazebo配置选项 gz_verbose = LaunchConfiguration("gz_verbose", default="false") gz_gui = LaunchConfiguration("gz_gui", default="true") # Gazebo simulation gz_sim = IncludeLaunchDescription( PythonLaunchDescriptionSource(join(gz_sim_share, "launch", "gz_sim.launch.py")), launch_arguments={ "gz_args": [world_file, " -r "] }.items() ) # 独立的robot_state_publisher - 专门负责发布机器人描述和静态变换 robot_state_publisher = Node( package="robot_state_publisher", executable="robot_state_publisher", name="robot_state_publisher", # namespace=robot_name, output="screen", parameters=[ {'use_sim_time': use_sim_time}, {'robot_description': ParameterValue( Command([ 'xacro ', xacro_file, ' robot_name:=', robot_name, ' sim_ign:=', "true" ]), value_type=str )} ], ) # Spawn robot entity - delayed to ensure Gazebo is ready gz_spawn_entity = TimerAction( period=3.0, actions=[ Node( package="ros_gz_sim", executable="create", output="screen", arguments=[ "-topic", "/robot_description", "-name", robot_name, "-allow_renaming", "true", "-z", "0.28", "-x", position_x, "-y", position_y, "-Y", orientation_yaw ] ) ] ) # Controller manager controller_manager = TimerAction( period=5.0, actions=[ Node( package="controller_manager", executable="ros2_control_node", parameters=[controller_config_file, {'use_sim_time': use_sim_time}], output="screen", ) ] ) # Joint state broadcaster spawner - delayed joint_state_broadcaster_spawner = TimerAction( period=5.0, actions=[ Node( package="controller_manager", executable="spawner", arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], output="screen", ) ] ) # Mecanum drive controller spawner - delayed mecanum_drive_spawner = TimerAction( period=5.0, actions=[ Node( package="controller_manager", executable="spawner", arguments=["jetauto_base_controller", "--controller-manager", "/controller_manager"], output="screen", ) ] ) # ROS-Gazebo bridge ign_ros2_bridge = Node( package="ros_gz_bridge", executable="parameter_bridge", name="ros_gz_bridge", output="screen", arguments=[ # LaserScan "/model/jetauto/lidar_scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan", # IMU "/model/jetauto/imu_data@sensor_msgs/msg/Imu[ignition.msgs.IMU", # 深度相机 - 图像 "/model/jetauto/depth_camera@sensor_msgs/msg/Image[ignition.msgs.Image", # 深度相机 - 点云 "/model/jetauto/depth_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", # _深度相机 - CameraInfo_ (ROS Topic Name 和 IGN Topic Name 不同) "/model/jetauto/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo", ], # arguments=[ # "/clock@rosgraph_msgs/msg/Clock]ignition.msgs.Clock", # "/odom@nav_msgs/msg/Odometry]@/odom@ignition.msgs.Odometry", # # LaserScan # "/model/jetauto/lidar_scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan", # # IMU # "/model/jetauto/imu_data@sensor_msgs/msg/Imu[ignition.msgs.IMU", # # 深度相机数据桥接 # "/model/jetauto/depth_camera@sensor_msgs/msg/Image[ignition.msgs.Image", # "/model/jetauto/depth_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", # "/model/jetauto/depth_camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo", # ], parameters=[ {'use_sim_time': use_sim_time}] ) return LaunchDescription([ AppendEnvironmentVariable( name='IGN_GAZEBO_RESOURCE_PATH', value=join(jetauto_bot_path, "worlds")), AppendEnvironmentVariable( name='IGN_GAZEBO_RESOURCE_PATH', value=join(jetauto_bot_path, "models")), # Declare arguments DeclareLaunchArgument("use_sim_time", default_value="true"), DeclareLaunchArgument("world_file", default_value=join(jetauto_bot_path, "worlds", "world.sdf")), DeclareLaunchArgument("robot_name", default_value="jetauto", description="Name of the robot"), DeclareLaunchArgument("position_x", default_value="0.0", description="Initial X position"), DeclareLaunchArgument("position_y", default_value="0.0", description="Initial Y position"), DeclareLaunchArgument("orientation_yaw", default_value="0.0", description="Initial Yaw orientation"), # 添加新的launch参数声明 DeclareLaunchArgument("gz_verbose", default_value="false", description="Enable verbose Gazebo output"), DeclareLaunchArgument("gz_gui", default_value="true", description="Enable Gazebo GUI"), DeclareLaunchArgument("physics_engine", default_value="ode", description="Physics engine (ode/bullet/dart/simbody). ODE is default and most stable."), # Launch nodes gz_sim, robot_state_publisher, gz_spawn_entity, controller_manager, joint_state_broadcaster_spawner, mecanum_drive_spawner, ign_ros2_bridge, ])
综合问题
1

微信图片_20250604141253.jpg 微信图片_20250604141309.jpg
想知道这是怎么回事😢
怎么解决？

机械臂运动规划
1
标题：①（未解决）U盘双系统安装失败；②（已解决）之后U盘启动报错，未分配，被损坏 背景(可选)：

我现在需要一个可以很好安装，无错的方式，来实现U盘双系统安装；过程可以稍微复杂一点，但是无错，很好的运行

问题描述：

使用的是下面的推荐，安装双系统的方式
FISHROS2OS链接：https://pan.baidu.com/s/16PO_ddC-_6V-f5BWuiMAjw?pwd=fish 提取码：fish
FISHROS2使用介绍：【不用装虚拟机双系统，三分钟让你拥有一个ROS随身系统-哔哩哔哩】 https://b23.tv/zKuzdYU
QQ图片20250604102130.png
按照视频中的教学，解压安装，导致在烧录的时候；
打开图片文件时出错.png

具体细节和上下文：

U盘下载过两次，两次都是同样的结果，都是烧录失败；

尝试过的解决方法：

①U盘下载过两次，两次都是同样的结果，都是烧录失败；
②最后我在社区找到了3月份的一个帖子，也是同样的问题，但是我觉得用处不大，因为我想要能够安装双系统的问题没有解决；
我觉得问题的点;可能在安装包本身，①因为有其他的人有同样的结果；②在进行选择移动硬盘的时候，显示的路径感觉不太对（当时没有截），但是因为只有一个选项可以选择
移动硬盘选择.png

VIP问答专区
D

foxy版本6.3.2按照书上 写加转动惯量 运行后 rviz里面没有Mass Properties这个选项 有遇到过的没 如何解决

ROS2机器人开发：从入门到实践
H

2025-06-04 01-05-00 的屏幕截图.png
这是4.2.3的代码，在注册之后，colcon build,source等之后，运行，报错2025-06-04 01-06-50 的屏幕截图.png

ROS2机器人开发：从入门到实践
L

有没有使用imu加pid控制自定义角度转向的历程，自己写出来的怪怪的

FishBot四驱机器人V2
卡

ros1中在nodelet的不同子节点如何在不改代码的情况下，依照子节点输出不同的日志

机器人学
C

fba4a9e2-be04-4631-92db-c518b113ad82-image.png

一键安装
2

为什么我在这块地方的Fixed Frame 不能为 选择为base_link啊？
01.urdf

<robot name="mycar"> <link name="base_link"> <visual> <geometry> <box size="0.5 0.2 0.1" /> </geometry> </visual> </link> </robot>

01.launch

<launch> <!-- 设置参数 --> <param name="robot_description" textfile="$(find urdf01)/urdf/urdf/01.urdf" /> <!-- 启动 rviz --> <node pkg="rviz" type="rviz" name="rviz" /> </launch>

c1795a66-d4c8-40e5-90a9-a936b2d60247-image.png ![f4eb9402-2632-4256-a195

学习资源
22523344012
根据您的系统，为您推荐安装源为['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] [\][0.37s] 获取:2 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InReleas[\][0.60s] 错误:2 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InReleas[|][0.63s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][0.63s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][0.70s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][0.80s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][0.91s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.01s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.11s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.21s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.31s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.41s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.51s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.61s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.71s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.81s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.91s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.05s] 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 ] [-][0.76s] 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/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] [-][0.34s] 获取:4 https://repo.huaweicloud.com/ros2/ubuntu jammy InRelease [4,68[|][0.74s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][0.74s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][0.80s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][0.90s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.00s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.10s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.21s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.31s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.41s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.51s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.61s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.71s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.81s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.96s] 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 ] [-][0.74s] 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/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] [/][10.30s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Er[\][10.30s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Er[\][10.37s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Er[\][10.47s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Er[\][10.57s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Er[\][10.67s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Er[\][10.77s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Er[\][10.87s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Er[\][10.97s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Er[\][11.07s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Er[\][11.17s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Er[-][11.58s] CMD Result:success Run CMD Task:[sudo apt search ros-base ] [-][0.74s] 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/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] [|][1.58s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.58s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.61s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.71s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.81s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.91s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.01s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.12s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.22s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.32s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.42s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.52s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.62s] 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 ] [-][0.76s] CMD Result:success Run CMD Task:[sudo apt update] [|][1.29s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.29s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.31s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.41s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.51s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.61s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.71s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.81s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][1.91s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.01s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.11s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.21s] 下列签名无效： EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfo[-][2.35s] 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！ 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

这是提示

一键安装
C

5ea0c74b-1fee-448d-8cb3-bd7308b008b0-图片.png
配置了ssid和pwd，还是连接不上无线网，重新扫描配置发现没配置上

学习资源
2

老师，我这里一键安装docker服务，为啥直接报错了
ros2@ros2-VirtualBox:~$ wget http://fishros.com/install -O fishros && bash fishros
--2025-06-02 08:57:00-- http://fishros.com/install
正在解析主机 fishros.com (fishros.com)... 47.119.165.169
正在连接 fishros.com (fishros.com)|47.119.165.169|:80... 已连接。
已发出 HTTP 请求，正在等待回应... 301 Moved Permanently
位置：http://fishros.com/install/ [跟随至新的 URL]
--2025-06-02 08:57:00-- http://fishros.com/install/
再次使用存在的到 fishros.com:80 的连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 960 [application/octet-stream]
正在保存至: ‘fishros’

fishros 100%[===================>] 960 --.-KB/s 用时 0s

2025-06-02 08:57:00 (172 MB/s) - 已保存 ‘fishros’ [960/960])

[sudo] ros2 的密码：
正在读取软件包列表... 完成
正在分析软件包的依赖关系树... 完成
正在读取状态信息... 完成
python3-distro 已经是最新版 (1.7.0-1)。
python3-yaml 已经是最新版 (5.4.1-1ubuntu1)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 193 个软件包未被升级。
--2025-06-02 08:57:04-- http://mirror.fishros.com/install/tools/base.py
正在解析主机 mirror.fishros.com (mirror.fishros.com)... 47.119.165.169
正在连接 mirror.fishros.com (mirror.fishros.com)|47.119.165.169|:80... 已连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 51464 (50K) [application/octet-stream]
正在保存至: ‘/tmp/fishinstall//tools/base.py’

/tmp/fishinstall//t 100%[===================>] 50.26K --.-KB/s 用时 0.08s

2025-06-02 08:57:04 (615 KB/s) - 已保存 ‘/tmp/fishinstall//tools/base.py’ [51464/51464])

Run CMD Task:[dpkg --print-architecture]
[-][0.00s] CMD Result:success

Run CMD Task:[wget http://mirror.fishros.com/install/tools/translation/translator.py -O /tmp/fishinstall//tools/translation/translator.py --no-check-certificate]
[/][0.00s] --2025-06-02 08:57:05-- http://mirror.fishros.com/install/tools/tran[][0.10s] 正在解析主机 mirror.fishros.com (mirror.fishros.com)... 47.119.165.16[|][0.10s] 正在连接 mirror.fishros.com (mirror.fishros.com)|47.119.165.169|:80..[-][0.10s] CMD Result:success

Run CMD Task:[wget http://mirror.fishros.com/install/tools/translation/assets/zh_CN.py -O /tmp/fishinstall//tools/translation/assets/zh_CN.py --no-check-certificate]
[/][0.00s] --2025-06-02 08:57:06-- http://mirror.fishros.com/install/tools/tran[][0.10s] 正在解析主机 mirror.fishros.com (mirror.fishros.com)... 47.119.165.16[|][0.10s] 正在连接 mirror.fishros.com (mirror.fishros.com)|47.119.165.169|:80..[-][0.10s] CMD Result:success

Run CMD Task:[wget http://mirror.fishros.com/install/tools/translation/assets/en_US.py -O /tmp/fishinstall//tools/translation/assets/en_US.py --no-check-certificate]
[/][0.00s] --2025-06-02 08:57:06-- http://mirror.fishros.com/install/tools/tran[][0.10s] 正在解析主机 mirror.fishros.com (mirror.fishros.com)... 47.119.165.16[|][0.10s] 正在连接 mirror.fishros.com (mirror.fishros.com)|47.119.165.169|:80..[-][0.10s] CMD Result:success

Run CMD Task:[wget https://fishros.org.cn/forum/topic/1733 -O /tmp/t1733 -q --timeout 10 && rm -rf /tmp/t1733]
[-][0.00s] CMD Result:success

已为您切换语言至当前所在国家语言:zh_CN
基础检查通过... ======欢迎使用一键安装工具，人生苦短，三省吾身，省时省力省心!=======
======一键安装已开源，请放心使用：https://github.com/fishros/install ======= .-~~~~~~~~~-._ _.-~~~~~~~~~-. __.' ~. .~ `.__ .'// 开卷有益 \./ 书山有路 \ `. .'// 可以多看看小鱼的文章 | 关注B站鱼香ROS机器人 \ `. .'// .-~~~~~~~~~~~~~~-._ | _,-~~~~~~~~~~~. \`. .'//.-" `-. | .-' "-.\`. .'//______.============-.. \ | / ..-============.______\`. .'______________________________\|/______________________________` ----------------------------------------------------------------------

RUN Choose Task:[请输入括号内的数字]
---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:17
Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_config_docker_proxy.py -O /tmp/fishinstall/tools/tool_config_docker_proxy.py --no-check-certificate]
[/][0.00s] --2025-06-02 08:57:17-- http://mirror.fishros.com/install/tools/tool[][0.10s] 正在解析主机 mirror.fishros.com (mirror.fishros.com)... 47.119.165.16[|][0.10s] 正在连接 mirror.fishros.com (mirror.fishros.com)|47.119.165.169|:80..[-][0.10s] CMD Result:success

欢迎使用一键配置Docker代理(支持VPN+代理服务两种模式),本工具由作者小鱼提供
RUN Choose Task:[请输入括号内的数字]
请选择代理模式,如果不清楚可以选2
[1]:VPN模式(需要本地有支持HTTP代理)
[2]:服务模式(需要提供支持Docker代理的服务器地址)
[3]:删除所有模式代理
0:quit
请输入[]内的数字以选择:1
请输入代理所在地址(直接回车使用:127.0.0.1):
请输入代理所在端口:7890
创建文件:/etc/systemd/system/docker.service.d/proxy.conf
Run CMD Task:[sudo mkdir -p /etc/systemd/system/docker.service.d/]
[-][0.00s] CMD Result:success

在/etc/systemd/system/docker.service.d/proxy.conf写入了[Service]
Environment="HTTP_PROXY=http://127.0.0.1:7890/"
Environment="HTTPS_PROXY=http://127.0.0.1:7890/"
Environment="NO_PROXY=localhost,127.0.0.1,127.0.0.1,.example.com,接下来为你重启Docker!
Run CMD Task:[sudo systemctl daemon-reload]
[-][0.00s] CMD Result:success

Run CMD Task:[sudo systemctl restart docker]
[-][0.01s] CMD Result:code:5

配置完成,接下来你可以尝试再次拉取镜像了~
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

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  • 社区运营&开源工具

    学习资源 社区运营 一键安装 FishROS2GO
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    A

    @小鱼 感谢 小鱼哥 安装成功

  • 432
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    抱

    下图是rviz2显示的里程计前进就会拐弯

    #include <Arduino.h> #include <Esp32PcntEncoder.h> #include <Esp32McpwmMotor.h> #include <PidController.h> #include <Kinematics.h> // 引入Microros和wifi相关的库 #include <WiFi.h> #include <micro_ros_platformio.h> #include <rcl/rcl.h> #include <rclc/rclc.h> #include <rclc/executor.h> #include <geometry_msgs/msg/twist.h> // 消息接口 #include <nav_msgs/msg/odometry.h>//里程计消息接口 #include <micro_ros_utilities/string_utilities.h>//引入字符串内存分配初始化工具 // 声明一些相关的结构体对象 rcl_allocator_t allocator; // 内存分配器，用于动态内存分配管理 rclc_support_t support; // 用于存储时钟，内存分配器和上下文，用于提供支持 rclc_executor_t executor; // 执行器，用于管理订阅和计时器回调的执行 rcl_node_t node; // 节点，用于创建节点 rcl_subscription_t sub_cmd_vel; // 创建一个订阅者 geometry_msgs__msg__Twist msg_cmd_vel; // 订阅到的数据存储到这里 rcl_publisher_t pub_odom;//创建一个里程计发布者 nav_msgs__msg__Odometry msg_odom;//里程计消息存储在这 rcl_timer_t timer;//定时器可以定时调用某个函数 Esp32PcntEncoder encoders[2]; // 创建一个数组用于存储两个编码器 Esp32McpwmMotor motor; // 创建一个名为motor的对象，用于控制电机 PidController pid_controller[2]; Kinematics kinematics; float target_linear_speed = 0.0; // 单位 毫米每秒 float target_angular_speed = 0.0; // 单位 弧度每秒 float out_left_speed = 0.0; // 输出的左右轮速度，不是反馈的左右轮速度 float out_right_speed = 0.0; // 定时器的回调函数 void timer_callback(rcl_timer_t* timer,int64_t last_call_time) { // 完成里程计的发布 odom_t odom = kinematics.get_odom(); // 获取当前的里程计 int64_t stamp = rmw_uros_epoch_millis(); // 获取当前的时间 msg_odom.header.stamp.sec = static_cast<int32_t>(stamp/1000); // 秒部分 msg_odom.header.stamp.nanosec = static_cast<int32_t>((stamp%1000)*1e6); // 纳秒部分 msg_odom.pose.pose.position.x = odom.x; msg_odom.pose.pose.position.y = odom.y; msg_odom.pose.pose.orientation.w = cos(odom.angle*0.5); msg_odom.pose.pose.orientation.x = 0; msg_odom.pose.pose.orientation.y = 0; msg_odom.pose.pose.orientation.z = sin(odom.angle*0.5); msg_odom.twist.twist.linear.x = odom.linear_speed; msg_odom.twist.twist.angular.z = odom.angular_speed; // 发布里程计，把数据发出去 if(rcl_publish(&pub_odom,&msg_odom,NULL)!=RCL_RET_OK) { Serial.println("error: odom pub failed!"); } } void twist_callback(const void * msg_in) { // 将受到的消息指针转换成 geometry_msgs__msg__Twist 类型的指针 const geometry_msgs__msg__Twist* msg = (const geometry_msgs__msg__Twist*)msg_in; target_linear_speed = msg->linear.x * 1000; target_angular_speed = msg->angular.z; kinematics.kinematics_inverse(target_linear_speed, target_angular_speed, &out_left_speed, &out_right_speed); Serial.printf("OUT:left_speed=%f,right_speed=%f\n", out_left_speed, out_right_speed); pid_controller[0].update_target(out_left_speed); pid_controller[1].update_target(out_right_speed); } // 单独创建一个任务运行 micro-ROS 相当于一个线程 void microros_task(void *args) { // 1.设置传输协议并延迟一段时间等待设置的完成 IPAddress agent_ip; agent_ip.fromString("192.168.3.149"); // 设置agent的IP地址 set_microros_wifi_transports("HUAWEI-R1CP6X", "xqdjx1703", agent_ip, 8888); // 设置传输协议 delay(3000); // 等待2秒,等待WIFI连接 // 2.初始化内存分配器 allocator = rcl_get_default_allocator(); // 获取默认的内存分配器 // 3.初始化支持 rclc_support_init(&support, 0, NULL, &allocator); // 初始化支持 // 4.初始化节点 rclc_node_init_default(&node, "fishbot_motion_control", "", &support); // 初始化节点 // 5.初始化执行器 unsigned int num_handles = 2; // 订阅和计时器的回调数量,注意这是一个要改的参数 rclc_executor_init(&executor, &support.context, num_handles, &allocator); // 初始化执行器 // 初始化订阅者，并将其添加到执行其中 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); //初始化msgs初始化主机和从机 msg_odom.header.frame_id =micro_ros_string_utilities_set(msg_odom.header.frame_id,"odom"); msg_odom.child_frame_id =micro_ros_string_utilities_set(msg_odom.child_frame_id,"base_footprint"); //初始化发布者和定时器 rclc_publisher_init_best_effort(&pub_odom,&node,ROSIDL_GET_MSG_TYPE_SUPPORT(nav_msgs,msg,Odometry),"/odom"); rclc_timer_init_default(&timer,&support,RCL_MS_TO_NS(50),timer_callback); rclc_executor_add_timer(&executor,&timer); //时间同步 while(!rmw_uros_epoch_synchronized()) { rmw_uros_sync_session(1000);//超时时间 delay(10); } // 循环执行器 rclc_executor_spin(&executor); } // v=w*r // r = v/w = 0.05/0.1 = 0.5 0.02/0.1 = 0.2 m void setup() { // 初始化串口 Serial.begin(115200); // 初始化串口通信，设置通信速率为115200 // 初始化电机驱动器 motor.attachMotor(0, 22, 23); // 将电机0连接到引脚22和引脚23 motor.attachMotor(1, 12, 13); // 将电机1连接到引脚12和引脚13 // 初始化编码器 encoders[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接 encoders[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接 // 初始化PID控制器的参数 pid_controller[0].update_pid(0.625, 0.125, 0.0); pid_controller[1].update_pid(0.625, 0.125, 0.0); pid_controller[0].out_limit(-100, 100); pid_controller[1].out_limit(-100, 100); // 初始化运动学参数 kinematics.set_wheel_distance(175); // mm kinematics.set_motor_param(0, 0.105805); kinematics.set_motor_param(1, 0.105805); // 测试下运动学逆解 // 创建一个任务运行 micro-ROS xTaskCreate(microros_task, "microros_task", 10240, NULL, 1, NULL); } void loop() { delay(10); // 等待10毫秒 kinematics.update_motor_speed(millis(), encoders[0].getTicks(), encoders[1].getTicks()); // 记得调用更新电机速度函数 motor.updateMotorSpeed(0, pid_controller[0].update( kinematics.get_motor_speed(0))); motor.updateMotorSpeed(1, pid_controller[1].update(kinematics.get_motor_speed(1))); // Serial.printf("speed1=%d,speed2=%d\n",kinematics.get_motor_speed(0),kinematics.get_motor_speed(1)); // Serial.printf("x,y,yaw=%f,%f,%f\n", kinematics.get_odom().x, kinematics.get_odom().y, kinematics.get_odom().angle);

    1e4a11f0-20be-4edb-8823-b1c5165106e2-image.png

  • 针对社区VIP用户问答专区

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    L

    @2586375669 前面加一下sudo

  • 《ROS2机器人开发：从入门到实践》书籍配套资料答疑专区

    ROS 2相关问题
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    2

    太感谢兄弟了，今天我回顾这个问题才看见你给我解答了😀

  • 综合问题讨论版块 | 版主 @吴凯荣 @小鱼

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    @3104827606 我当时的情况一样，使用2d激光雷达重定位非常慢，但是用3d激光雷达重定位很快；改变地图是需要修改源码的，网上有教程，你搜搜

  • 机械臂力控板块 | 版主： @陆门马

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    24310882892

    400f79ff-8a2f-4584-b099-ffe7dbc31462.jpeg

    机械臂，遥操作+加力反馈，如何实现？

    遥操作：通过手柄，手机，或者任何形式的“遥控器”遥控机械臂的运动。最简单的形式就是以一个机械臂（主臂）遥控另一个机械臂（从臂）。

    力反馈：当从臂碰到障碍物时，主臂可以以力的形式感受到这个障碍物，所谓“感受”就是操作者感受到主臂的力。

    代码：https://gitee.com/qingqing-gaq/feel_force.git

    视频：https://www.bilibili.com/video/BV1KoEqzyEFR/?vd_source=36451ca805358187c4a0efa1c5694b35

    我的实现思路：
    软件：rso2
    硬件：双通道usb转can模块，六个达妙4310电机。

    六个电机，组成两个三自由度机械臂。一个can通道控制一个机械臂。

    大体逻辑：
    主臂时重力补偿模式，因为只有重力补偿才能任意拖动。主臂把实时的关节位置，发送给从臂，因此从臂必然是位置控制模式，这样才能跟踪主臂的位置。
    那么主臂如何感受从臂的力呢？这里就需要电机有力矩接口了（达妙电机的mit模式），当从臂电机受到阻力时，pid控制力就会变大，电机反馈会的力也会变大，这个变大的值就是阻力了。把这个力反馈给主臂即可。
    程序运行逻辑：
    23467808-ec76-44af-b4b5-f339ae8f85d4.png
    操作逻辑的代码：

    std::cout << "JointPositionControl::execute..............." << std::endl; //从对应的can接收线程中读取电机状态，并更新到机械臂类储存关节状态的变量（下面会用到）中 arm->update_current_joint_states();//一定要在get_current_joint_states()之前执行 arm2->update_current_joint_states();//一定要在get_current_joint_states()之前执行 //从机械臂类里返回储存关节状态的变量 const auto &curret_joint_states = arm->get_current_joint_states(); const auto &curret_joint_states2 = arm2->get_current_joint_states(); //根据当前的关节状态，计算逆动力学，进行重力补偿。 arm->computeInverseDynamics(arm->current_joint_positions, arm->current_joint_velocities, arm->current_joint_acceleration, arm->gravity_joint_tauqes); arm2->computeInverseDynamics(arm2->current_joint_positions, arm2->current_joint_velocities, arm2->current_joint_acceleration, arm2->gravity_joint_tauqes); std::vector<float> pos1(arm->getDof(), 0.0f); std::vector<float> pos2(arm->getDof(), 0.0f); std::vector<float> vel(arm->getDof(), 0.0f); std::vector<float> vel2(arm->getDof(), 0.0f); std::vector<float> tor(arm->getDof(), 0.0f); std::vector<float> tor2(arm2->getDof(), 0.0f); for (size_t i = 0; i < arm->getDof(); i++) { if(i==2) {//三号电机转向和模型相反，所以要单独加一个负号 tor[i] = -arm->gravity_joint_tauqes(i);//发送给主臂的重力补偿力矩 tor2[i] = -arm2->gravity_joint_tauqes(i);//发送给从臂的重力补偿力矩 } else { tor[i] = arm->gravity_joint_tauqes(i);//发送给主臂的重力补偿力矩 tor2[i] = arm2->gravity_joint_tauqes(i);//发送给主臂的重力补偿力矩 } //主臂的关节速度，发送给从臂 vel2[i] = 0.10 * curret_joint_states.at(i).velocity; // 系数越大手感越硬。 //主臂的关节位置，发送给从臂 pos2[i] = curret_joint_states.at(i).position; } float torque_threshold = 0.04f; // 设置阈值 //从臂受到的阻力，返回给主臂 for (size_t i = 0; i < arm->getDof(); i++) { if (std::abs(curret_joint_states2.at(i).torque) > torque_threshold) { tor[i] += -0.5 * (curret_joint_states2.at(i).torque - tor2[i]); // 如果超过阈值，按原逻辑计算 } else { tor[i] += 0.0f; // 否则赋值为 0 } } // pos2[0] = 0; tor2[0] = 0; arm->send_joint_states(pos1, vel, tor);//向主臂发送关节的状态 arm2->send_joint_states(pos2, vel2, tor2);//向从臂发送关节的状态

    其中：主臂位置发送给从臂的逻辑好理解。

    pos2[i] = curret_joint_states.at(i).position; //curret_joint_states.at(i).position：主臂的实时关节位置 //pos2[i]：发送给从臂的关节位置

    这一句是从臂的力矩反馈给主臂。有一步操作是从臂反馈的力矩减去了重力补偿力矩，这是因为，反馈的电机力矩是pid产生的。这个pid产生的控制力矩就包含重力力矩，如果把这个力也算上发送给主臂，那主臂就会变的很称，因为从臂把重力也传过来了。

    tor[i] += -0.5 * (curret_joint_states2.at(i).torque - tor2[i]); //tor[i]： 发送给主臂的关节力矩 //curret_joint_states2.at(i).torque：从臂电机反馈会来的力矩 //tor2[i]：发送给从臂的重力补偿力矩。 //-0.5：缩放系数

    这个if判断的作用是，避免从臂传来的力一直在小幅度波动，只有从臂反馈的力大于一个值，这个力才会被加载到主臂上。

    float torque_threshold = 0.04f; // 设置阈值 //从臂受到的阻力，返回给主臂 for (size_t i = 0; i < arm->getDof(); i++) { if (std::abs(curret_joint_states2.at(i).torque) > torque_threshold) { tor[i] += -0.5 * (curret_joint_states2.at(i).torque - tor2[i]); // 如果超过阈值，按原逻辑计算 } else { tor[i] += 0.0f; // 否则赋值为 0 } }

    这又是一个神奇的操作。就是让从臂有期望速度。作用就是会影响操作手感。

    vel2[i] = 0.10 * curret_joint_states.at(i).velocity; // 系数越大手感越硬。

    ok这就是整个的实现逻辑，非常简陋。

    程序框架简介：https://zwf9l1z0bm3.feishu.cn/docx/Ee3EdW8meoy79uxzBQVcXe11nfh?from=from_copylink
    qq交流群：523255719

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    微信图片_20250604141253.jpg 微信图片_20250604141309.jpg
    想知道这是怎么回事😢
    怎么解决？

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