2

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

综合问题
3

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

学习资源
1
问题描述：

ros1一键安装，三方源已经下好，在最后安装过程中出现报错

具体细节和上下文：

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

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

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

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

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

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

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

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

检测到本次运行出现失败命令,直接退出按Ctrl+C,按任意键上传日志并退出

尝试过的解决方法： [描述您已经尝试过的任何解决方法或方法。这可以帮助其他人了解您遇到问题的具体情况，并避免给出与您已经尝试过的解决方案相同的答案。]
学习资源
1

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

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

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

学习资源
肪

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

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

综合问题
2

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

ROS 2相关问题
G

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

动手学ROS2
N

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

ROS2机器人开发：从入门到实践
X

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

ROS2机器人开发：从入门到实践
3

输入ros2 run demo_python_tf dynamic_tf_broadcaster后
Traceback (most recent call last):
File "/home/kc/chapt5/chapt5_ws/install/demo_python_tf/lib/demo_python_tf/dynamic_tf_broadcaster", line 33, in <module>
sys.exit(load_entry_point('demo-python-tf==0.0.0', 'console_scripts', 'dynamic_tf_broadcaster')())
File "/home/kc/chapt5/chapt5_ws/install/demo_python_tf/lib/demo_python_tf/dynamic_tf_broadcaster", line 25, in importlib_load_entry_point
return next(matches).load()
File "/usr/lib/python3.10/importlib/metadata/init.py", line 173, in load
return functools.reduce(getattr, attrs, module)
AttributeError: module 'demo_python_tf.dynamic_tf_broadcaster' has no attribute 'main'
[ros2run]: Process exited with failure 1

动手学ROS2
P

~$ sudo apt-get install ros-humble-desktop
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
libasound2t64 : Breaks: libasound2 (< 1.2.11-1ubuntu0.1)
libboost-mpi-python1.74.0 : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
libcurl4-openssl-dev : Depends: libcurl4 (= 7.81.0-1ubuntu1.20)
libdrm-dev : Depends: libdrm2 (= 2.4.113-2~ubuntu0.22.04.1) but 2.4.122-1~ubuntu0.24.04.1 is to be installed
Depends: libdrm-intel1 (= 2.4.113-2~ubuntu0.22.04.1) but 2.4.122-1~ubuntu0.24.04.1 is to be installed
Depends: libdrm-radeon1 (= 2.4.113-2~ubuntu0.22.04.1) but 2.4.122-1~ubuntu0.24.04.1 is to be installed
Depends: libdrm-nouveau2 (= 2.4.113-2~ubuntu0.22.04.1) but 2.4.122-1~ubuntu0.24.04.1 is to be installed
Depends: libdrm-amdgpu1 (= 2.4.113-2~ubuntu0.22.04.1) but 2.4.122-1~ubuntu0.24.04.1 is to be installed
libegl-dev : Depends: libegl1 (= 1.4.0-1) but 1.7.0-1build1 is to be installed
libexif-dev : Depends: libexif12 (= 0.6.24-1build1) but 0.6.24-1build2 is to be installed
Recommends: libexif-doc (= 0.6.24-1build1) but it is not going to be installed
libgbm-dev : Depends: libgbm1 (= 23.2.1-1ubuntu3.1~22.04.3) but 25.0.7-0ubuntu0.24.04.1 is to be installed
libgdal-dev : Depends: libnetcdf-dev but it is not installable
libgl-dev : Depends: libgl1 (= 1.4.0-1) but 1.7.0-1build1 is to be installed
Depends: libglx-dev but it is not going to be installed
libgles-dev : Depends: libgles1 (= 1.4.0-1) but it is not going to be installed
Depends: libgles2 (= 1.4.0-1) but 1.7.0-1build1 is to be installed
libglvnd-dev : Depends: libglvnd0 (= 1.4.0-1) but 1.7.0-1build1 is to be installed
Depends: libglx-dev (>= 1.3.0-1) but it is not going to be installed
libgphoto2-6t64 : Breaks: libgphoto2-6 (< 2.5.31-2.1build2)
Recommends: libgphoto2-l10n (= 2.5.31-2.1build2) but 2.5.27-1build2 is to be installed
libhdf4-alt-dev : Depends: libnetcdf-dev but it is not installable
libhdf5-dev : Depends: libssl-dev but it is not installable
libhdf5-openmpi-dev : Depends: libssl-dev but it is not installable
libheif-dev : Depends: libheif1 (= 1.12.0-2build1) but 1.17.6-1ubuntu4.1 is to be installed
Depends: libaom-dev but it is not going to be installed
Depends: libde265-dev (>= 1.0.7) but it is not going to be installed
Depends: libx265-dev but it is not going to be installed
libibus-1.0-dev : Depends: gir1.2-ibus-1.0 (= 1.5.26-4) but 1.5.29-2 is to be installed
Depends: libglib2.0-dev but it is not going to be installed
Depends: libibus-1.0-5 (= 1.5.26-4) but 1.5.29-2 is to be installed
libibverbs-dev : Depends: libibverbs1 (= 39.0-1) but 50.0-2ubuntu0.2 is to be installed
Depends: libnl-3-dev but it is not going to be installed
Depends: libnl-route-3-dev but it is not going to be installed
libltdl-dev : Depends: libltdl7 (= 2.4.6-15build2) but 2.4.7-7build1 is to be installed
Recommends: libtool but it is not going to be installed
liblzma-dev : Depends: liblzma5 (= 5.2.5-2ubuntu1) but 5.6.1+really5.4.5-1ubuntu0.2 is to be installed
libmysqlclient-dev : Depends: libssl-dev but it is not installable
libnetcdf-cxx-legacy-dev : Depends: libnetcdf-dev but it is not installable
libopengl0 : Depends: libglvnd0 (= 1.4.0-1) but 1.7.0-1build1 is to be installed
libopenjp2-7-dev : Depends: libopenjp2-7 (= 2.4.0-6ubuntu0.3) but 2.5.0-2ubuntu0.3 is to be installed
libpcre2-dev : Depends: libpcre2-8-0 (= 10.39-3ubuntu0.1) but 10.42-4ubuntu2.1 is to be installed
libpng-dev : Depends: libpng16-16 (= 1.6.37-3build5)
Recommends: libpng-tools but it is not installable
libpq-dev : Depends: libssl-dev but it is not installable
libpulse-dev : Depends: libpulse0 (= 1:15.99.1+dfsg1-1ubuntu2.2) but 1:16.1+dfsg1-2ubuntu10.1 is to be installed
Depends: libpulse-mainloop-glib0 (= 1:15.99.1+dfsg1-1ubuntu2.2) but 1:16.1+dfsg1-2ubuntu10.1 is to be installed
Depends: libglib2.0-dev but it is not going to be installed
libqt5designer5 : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
libqt5designercomponents5 : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
libqt5help5 : Depends: libqt5gui5 (>= 5.0.2) but it is not installable or
libqt5gui5-gles (>= 5.0.2) but it is not installable
libqt5printsupport5 : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
libqt5quickshapes5 : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
Depends: libqt5quick5 (>= 5.14.1) but it is not installable or
libqt5quick5-gles (>= 5.14.1) but it is not installable
libqt5quicktest5 : Depends: libqt5gui5 (>= 5.12.2) but it is not installable or
libqt5gui5-gles (>= 5.12.2) but it is not installable
Depends: libqt5quick5 (>= 5.0.2) but it is not installable or
libqt5quick5-gles (>= 5.0.2) but it is not installable
libqt5quickwidgets5 : Depends: libqt5gui5 (>= 5.10.0) but it is not installable or
libqt5gui5-gles (>= 5.10.0) but it is not installable
Depends: libqt5quick5 (>= 5.15.1) but it is not installable or
libqt5quick5-gles (>= 5.15.1) but it is not installable
libqt5svg5 : Depends: libqt5gui5 (>= 5.15.3+dfsg~) but it is not installable or
libqt5gui5-gles (>= 5.15.3+dfsg~) but it is not installable
libqt5webkit5 : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
Depends: libqt5quick5 (>= 5.15.3+dfsg~) but it is not installable or
libqt5quick5-gles (>= 5.15.3+dfsg~) but it is not installable
libqt5widgets5 : Depends: libqt5gui5 (>= 5.15.1) but it is not installable or
libqt5gui5-gles (>= 5.15.1) but it is not installable
libshiboken2-py3-5.15 : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
libsm-dev : Depends: libsm6 (= 2:1.2.3-1build2) but 2:1.2.3-1build3 is to be installed
Depends: libice-dev (>= 1:1.0.0-1) but it is not going to be installed
libudev-dev : Depends: libudev1 (= 249.11-0ubuntu3.16) but 255.4-1ubuntu8.10 is to be installed
libvtk9-dev : Depends: libnetcdf-dev but it is not installable
libvtk9-qt-dev : Depends: libqt5opengl5-dev but it is not installable
libvtk9.1-qt : Depends: libqt5gui5 (>= 5.11.0~rc1) but it is not installable or
libqt5gui5-gles (>= 5.11.0~rc1) but it is not installable
libvulkan-dev : Depends: libvulkan1 (= 1.3.204.1-2) but 1.3.275.0-1build1 is to be installed
libwayland-dev : Depends: libwayland-client0 (= 1.20.0-1ubuntu0.1) but 1.22.0-2.1build1 is to be installed
Depends: libwayland-server0 (= 1.20.0-1ubuntu0.1) but 1.22.0-2.1build1 is to be installed
Depends: libwayland-cursor0 (= 1.20.0-1ubuntu0.1) but 1.22.0-2.1build1 is to be installed
Depends: libwayland-egl1 (= 1.20.0-1ubuntu0.1) but 1.22.0-2.1build1 is to be installed
libwebp-dev : Depends: libwebp7 (= 1.2.2-2ubuntu0.22.04.2) but 1.3.2-0.4build3 is to be installed
Depends: libwebpmux3 (= 1.2.2-2ubuntu0.22.04.2) but 1.3.2-0.4build3 is to be installed
Depends: libwebpdemux2 (= 1.2.2-2ubuntu0.22.04.2) but 1.3.2-0.4build3 is to be installed
libx11-dev : Depends: libx11-6 (= 2:1.7.5-1ubuntu0.3) but 2:1.8.7-1build1 is to be installed
Depends: libxcb1-dev but it is not going to be installed
libxaw7-dev : Depends: libxaw7 (= 2:1.0.14-1) but 2:1.0.14-1build2 is to be installed
Depends: libxmu-dev but it is not going to be installed
Depends: libxpm-dev but it is not going to be installed
libxft-dev : Depends: libfontconfig1-dev
libxkbcommon-dev : Depends: libxkbcommon0 (= 1.4.0-1) but 1.6.0-1build1 is to be installed
libxss-dev : Depends: libxss1 (= 1:1.2.3-1build2) but 1:1.2.3-1build3 is to be installed
libxt6t64 : Breaks: libxt6 (< 1:1.2.1-1.2build1)
libzstd-dev : Depends: libzstd1 (= 1.4.8+dfsg-3build1) but 1.5.5+dfsg2-2build1.1 is to be installed
python3-lxml : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
Recommends: python3-bs4 but it is not going to be installed
Recommends: python3-html5lib but it is not going to be installed
python3-matplotlib : Depends: python3-pil.imagetk but it is not going to be installed
Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
Depends: python3-fonttools but it is not going to be installed
Depends: python3-kiwisolver but it is not going to be installed
Recommends: python3-tk but it is not going to be installed
python3-numpy : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
python3-opencv : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
python3-pil : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
Recommends: python3-olefile but it is not going to be installed
python3-pykdl : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
python3-pyqt5 : Depends: libqt5gui5 (>= 5.1.0) but it is not installable
Depends: libqt5gui5 (>= 5.15.1) but it is not installable or
libqt5gui5-gles (>= 5.15.1) but it is not installable
python3-pyqt5.qtsvg : Depends: libqt5gui5 (>= 5.0.2) but it is not installable or
libqt5gui5-gles (>= 5.0.2) but it is not installable
python3-pyqt5.sip : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
python3-pyside2.qtsvg : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
Depends: libqt5gui5 (>= 5.15) but it is not installable or
libqt5gui5-gles (>= 5.15) but it is not installable
Depends: python3-pyside2.qtwidgets but it is not going to be installed
Depends: python3-pyside2.qtgui but it is not going to be installed
Depends: python3-pyside2.qtcore but it is not going to be installed
python3-sip : Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
python3-vtk9 : Depends: python3-mpi4py but it is not going to be installed
Depends: python3 (< 3.11) but 3.12.3-0ubuntu2 is to be installed
qhelpgenerator-qt5 : Depends: libqt5gui5 (>= 5.0.2) but it is not installable or
libqt5gui5-gles (>= 5.0.2) but it is not installable
qt5-assistant : Depends: libqt5gui5 (>= 5.11.0~rc1) but it is not installable or
libqt5gui5-gles (>= 5.11.0~rc1) but it is not installable
qt5-qmltooling-plugins : Depends: libqt5gui5 (>= 5.9.0~beta) but it is not installable or
libqt5gui5-gles (>= 5.9.0~beta) but it is not installable
Depends: libqt5quick5 (>= 5.12.2) but it is not installable or
libqt5quick5-gles (>= 5.12.2) but it is not installable
qtbase5-dev : Depends: libqt5gui5 (= 5.15.3+dfsg-2ubuntu0.2) but it is not installable
Recommends: libqt5opengl5-dev (= 5.15.3+dfsg-2ubuntu0.2) but it is not installable
qtdeclarative5-dev : Depends: libqt5quick5 (= 5.15.3+dfsg-1) but it is not installable or
libqt5quick5-gles (>= 5.15) but it is not installable
Depends: libqt5quickparticles5 (= 5.15.3+dfsg-1) but it is not installable or
libqt5quickparticles5-gles (>= 5.15) but it is not installable
qtdeclarative5-dev-tools : Depends: libqt5gui5 (>= 5.2.0) but it is not installable or
libqt5gui5-gles (>= 5.2.0) but it is not installable
Depends: libqt5quick5 (>= 5.6.1) but it is not installable or
libqt5quick5-gles (>= 5.6.1) but it is not installable
qttools5-dev-tools : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
Depends: libqt5quick5 (>= 5.15.3+dfsg~) but it is not installable or
libqt5quick5-gles (>= 5.15.3+dfsg~) but it is not installable
ros-humble-demo-nodes-cpp-native : Depends: ros-humble-fastrtps but it is not installable
Depends: ros-humble-rmw-fastrtps-cpp but it is not installable
ros-humble-rqt-image-view : Depends: libqt5gui5 (>= 5.14.1) but it is not installable or
libqt5gui5-gles (>= 5.14.1) but it is not installable
ros-humble-rviz-assimp-vendor : Depends: libassimp-dev but it is not installable
ros-humble-rviz-common : Depends: libqt5gui5 (>= 5.2.0) but it is not installable or
libqt5gui5-gles (>= 5.2.0) but it is not installable
Depends: libqt5gui5 but it is not installable
Depends: libqt5opengl5 but it is not installable
ros-humble-rviz-default-plugins : Depends: libqt5gui5 (>= 5.2.0) but it is not installable or
libqt5gui5-gles (>= 5.2.0) but it is not installable
Depends: libqt5gui5 but it is not installable
Depends: libqt5opengl5 but it is not installable
ros-humble-rviz-rendering : Depends: libqt5gui5 (>= 5.5.0) but it is not installable or
libqt5gui5-gles (>= 5.5.0) but it is not installable
Depends: libqt5gui5 but it is not installable
Depends: libqt5opengl5 but it is not installable
ros-humble-turtlesim : Depends: libqt5gui5 (>= 5.2.0) but it is not installable or
libqt5gui5-gles (>= 5.2.0) but it is not installable
Depends: libqt5gui5 but it is not installable
tcl8.6-dev : Depends: libtcl8.6 (= 8.6.12+dfsg-1build1) but 8.6.14+dfsg-1build1 is to be installed
E: Error, pkgProblemResolver::Resolve generated breaks, this may be caused by held packages.

一键安装
W

在学习第六章第七章内容的时候，使用gazebo的时候，gazebo会崩溃，然后小车会消失，怎么再一次找回小车呢？

ROS2机器人开发：从入门到实践
jasmineJ

报错如图：8d3072e1-949a-492b-8137-12d3db17ef34-2025-08-21 15-50-43 的屏幕截图.png /home/user/图片/2025-08-21 15-50-43 的屏幕截图.png
尝试重装boost,但autoremove几乎会把一切环境都卸载。catkin_make -lboost_system也是报相同的错。在cmakelist里添加Boost::system的target_library也没有用。后面重装了ros，用的一键安装，其他都成功了但rosdep出错了，我后面手动安装了。之前因为anaconda的环境原因失败了几次，我卸载了anaconda3后虽然前面成功了，但后面这一步一直出错到现在都没解决，快疯了。大佬们，真心求教！

综合问题
W

b2484a57-e457-493a-8805-f35bd50a0974-image.png

动手学ROS2
H

使用一键安装rosdepc过程中遇到程序崩溃

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

本次运行详细日志文件已保存至 /tmp/fishros_install.log

检测到本次运行出现失败命令,直接退出按Ctrl+C,按任意键上传日志并退出
444
日志上传失败，若还需反馈请手动发帖!

一键安装
A

作为多年的机器人爱好者，我相信你一定也有和我们一样的痛苦：

“搭建一个完整的机器人仿真环境从来不是一件容易的事”
“别人发给我的仿真文件，第一次打开，永远是报错的......“

于是我们开发了rabo。它是一个新型的机器人开发平台，可以理解为浏览器版本的gazebo + 一键部署硬件能力。
打开浏览器，你就有了完整的机器人仿真环境和ROS2开发环境，还有各种共享的机器和场景资源可以直接上手，告别虚拟机，告别搭环境，告别安装失败，直接开工～

rabo历经几年时间的开发完成，到目前为止，它还只是在少数几所大学和研究所内应用。虽可挣得几分散碎银两，但作为一个还有那么一点技术理想的团队，我们还是无法摆脱一个渴望，那就是让更多像我们当初一样，在黑暗中苦苦摸索的机器人爱好者们，可以用上rabo，大家一起搞出更多有意思的东西...

所以我们准备面向轻量级开发者 免费 提供社区版rabo，包括上面提到的所有功能。社区版准备在8月底上线，感兴趣尝鲜的同学可以留言，我们提供测试链接～

这是一个示例场景：
场景中有一个六足机器人，我们已经开发了它的控制程序（当然是用ROS2实现的）。打开下面的链接，就可以运行仿真。还可以通过参数控制机器人的移动。

https://share.rastorigin.com/display/hgmayjjwNnhTXWyG

83442248-662a-4f09-b5cd-978897c4fcd1-image.png

社区运营
2

db02d70a-8a2a-448e-926f-ad1d20637945-图片.png

ROS2机器人开发：从入门到实践
2

1daa1236-677b-4535-ac98-cb6996d10c9a-图片.png

ROS2机器人开发：从入门到实践
W

Ubuntu22 ros2 humble
按照官方教程，从源码编译安装movei2后，

ros2 launch moveit2_tutorials demo.launch.py

运行信息看起来正常，rviz2能启动，只是rviz界面在屏幕外，也不知道怎么拉回屏幕中，有大佬遇到同样的问题吗，指点一下谢谢

综合问题
因

0b69fcd4-5d42-4264-963d-b7e5cac81090-图片.png ```
code_text

sensor_msgs/Image image --- int16 number float32 use_time int32[] top int32[] right int32[] bottom int32[] left cmake_minimum_required(VERSION 3.8) project(chapt4_interfaces) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() # find dependencies find_package(ament_cmake REQUIRED) find_package(sensor_msgs REQUIRED) find_package(rosidl_default_generators REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} "srv/FaceDetector.srv" DEPENDENCIES sensor_msgs ) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights # comment the line when a copyright and license is added to all source files set(ament_cmake_copyright_FOUND TRUE) # the following line skips cpplint (only works in a git repo) # comment the line when this package is in a git repo and when # a copyright and license is added to all source files set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() endif() ament_package() <?xml version="1.0"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>chapt4_interfaces</name> <version>0.0.0</version> <description>TODO: Package description</description> <maintainer email="redfish@foxmail.com">yhy</maintainer> <license>Apache-2.0</license> <buildtool_depend>ament_cmake</buildtool_depend> <member_of_group>rosidl_interface_packages</member_of_group> <depend>sensor_msgs</depend> <depend>rosidl_default_generators</depend> <test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_common</test_depend> <export> <build_type>ament_cmake</build_type> </export> </package>

求解，一步步跟着教程来的，为什么会出现构建失败的情况

ROS2机器人开发：从入门到实践
紧急通知：禁止一切关于政治&VPN翻墙等话题，发现相关帖子会立马删除封号
 提问前必看的发帖注意事项： 社区问答规则(小鱼个人)更新 | 高质量帖子发布指南

版块

  • 社区运营&开源工具

    学习资源 社区运营 一键安装 FishROS2GO
    1.4k
    主题
    5.0k
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    2

    @214747281 关闭新开一个终端

  • 460
    主题
    3.0k
    帖子

    1

    @luqixuan 在 9.0.6.2雷达驱动与建图测试（无线udp） 中说：

    xhost + && sudo docker run -it --rm -p 8889:8889 -p 8889:8889/udp -v /dev:/dev -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=unix$DISPLAY registry.cn-hangzhou.aliyuncs.com/fishros/fishbot_laser

    这要删了镜像要重新拉取才行额。。。问题解决了

  • 针对社区VIP用户问答专区

    68
    主题
    263
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    5

    标题：[nav2导航时，局部地图异常偏移，导致导航失败] 问题描述：

    [自己用gazebo创建了个环境，用nav2进行导航， 给定目标点后，小车在行走过程中，局部膨胀地图随着激光雷达出现了偏移，将路线给挡住了，导致导航失败]

    具体细节和上下文：

    1,机器人的仿真模型是根据鱼哥的视频一步步走下来的；
    2.我的param.yaml对全局和局部的配置如下：
    2.1 全局配置：
    global_costmap:
    global_costmap:
    ros__parameters:
    update_frequency: 2.0 #1.0
    publish_frequency: 1.0
    global_frame: map
    robot_base_frame: base_footprint
    use_sim_time: True
    # robot_radius: 0.2
    footprint: "[[0.325,-0.275],[0.325,0.275],[-0.325,0.275],[-0.325,-0.275]]"
    resolution: 0.05
    track_unknown_space: true
    plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
    obstacle_layer:
    plugin: "nav2_costmap_2d::ObstacleLayer"
    enabled: True
    observation_sources: scan
    scan:
    topic: /scan
    max_obstacle_height: 2.0
    clearing: True
    marking: True
    data_type: "LaserScan"
    raytrace_max_range: 3.0
    raytrace_min_range: 0.0
    obstacle_max_range: 2.5
    obstacle_min_range: 0.0
    static_layer:
    plugin: "nav2_costmap_2d::StaticLayer"
    map_subscribe_transient_local: True
    inflation_layer:
    plugin: "nav2_costmap_2d::InflationLayer"
    cost_scaling_factor: 6.0 #3.0
    inflation_radius: 0.35 #0.15
    always_send_full_costmap: True

    2.2 局部配置：
    local_costmap:
    local_costmap:
    ros__parameters:
    update_frequency: 2.0 #2.0 #5.0
    publish_frequency: 0.5 #2.0
    global_frame: odom
    robot_base_frame: base_footprint
    use_sim_time: True
    rolling_window: true
    width: 5 #3
    height: 5 #3
    resolution: 0.02 #0.05
    robot_radius: 0.46 #robot_radius: 0.2
    footprint: "[[0.325,-0.275],[0.325,0.275],[-0.325,0.275],[-0.325,-0.275]]"
    plugins: ["voxel_layer", "inflation_layer"]
    inflation_layer:
    plugin: "nav2_costmap_2d::InflationLayer"
    cost_scaling_factor: 6.0 #3.0
    inflation_radius: 0.45 #0.35 # 0.2 #0.15
    obstacle_layer:
    plugin: "nav2_costmap_2d::ObstacleLayer"
    enabled: True
    observation_sources: scan
    scan:
    topic: /scan
    max_obstacle_height: 2.0
    clearing: True
    marking: True
    data_type: "LaserScan"
    raytrace_max_range: 3.0
    raytrace_min_range: 0.0
    obstacle_max_range: 2.5
    obstacle_min_range: 0.0
    voxel_layer:
    plugin: "nav2_costmap_2d::VoxelLayer"
    enabled: True
    publish_voxel_map: True
    origin_z: 0.0
    z_resolution: 0.05
    z_voxels: 16
    max_obstacle_height: 2.0
    mark_threshold: 0
    observation_sources: scan
    scan:
    topic: /scan
    max_obstacle_height: 2.0
    clearing: True
    marking: True
    data_type: "LaserScan"
    raytrace_max_range: 3.0
    raytrace_min_range: 0.0
    obstacle_max_range: 2.5
    obstacle_min_range: 0.0
    static_layer:
    plugin: "nav2_costmap_2d::StaticLayer"
    map_subscribe_transient_local: True
    always_send_full_costmap: True

    出现异常的图片：
    a818fc44-b97e-41dc-8db9-ba8c1c59aa45-image.png 尝试过的解决方法：

    我尝试将全局和局部地图的更新频率设置成一样的，但是没有效果。不知道是什么原因，求大佬帮忙分析下。

  • 《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
    1.1k
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    M

    @root 我也遇到这个问题，这个好像如果直接使用了鱼香的一键下载ros2，那么rosdep就包括了，你可以试试使用下面两个命令进行配置：
    sudo rosdep init
    rosdep update
    然后测试
    ros2 run demo_nodes_cpp talker
    ros2 run demo_nodes_py listener
    能运行起来应该没问题的

  • 综合问题讨论版块 | 版主 @吴凯荣 @小鱼

    1.0k
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    2

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

  • 机械臂力控板块 | 版主： @陆门马

    5
    主题
    11
    帖子

    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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    W

    ros2 run orbslam3 mono ~/Documents/SLAM/ORB_SLAM3/Vocabulary/ORBvoc.txt ~/Documents/SLAM/ORB_SLAM3/Examples/Monocular/RealSense_D435i.yaml

    显示画面是黑的，而且会闪退。
    报错信息：ERROR: Frame with a timestamp older than previous frame detected!
    Creation of new map with id: 1
    Stored map with ID: 0
    Creation of new map with last KF id: 0

    SYSTEM-> Reseting active map in monocular case
    terminate called after throwing an instance of 'cv::Exception'
    what(): OpenCV(4.2.0) ../modules/imgproc/src/color.simd_helpers.hpp:92: error: (-2:Unspecified error) in function 'cv::impl::{anonymous}::CvtHelper<VScn, VDcn, VDepth, sizePolicy>::CvtHelper(cv::InputArray, cv::OutputArray, int) [with VScn = cv::impl::{anonymous}::Set<1>; VDcn = cv::impl::{anonymous}::Set<3, 4>; VDepth = cv::impl::{anonymous}::Set<0, 2, 5>; cv::impl::{anonymous}::SizePolicy sizePolicy = cv::impl::<unnamed>::NONE; cv::InputArray = const cv::_InputArray&; cv::OutputArray = const cv::_OutputArray&]'

    Invalid number of channels in input image:
    'VScn::contains(scn)'
    where
    'scn' is 2
    是为什么啊

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