rviz中Map no map received,没有接受到地图信息 目前发现是时间不一致导致的，问如何解决

20463530-d3c1-4bc8-b699-776cafed8f9d-image.png

rviz显示如下

8f421ede-a828-4232-a3b4-0ae7983716fe-image.png

rqt显示如下

3dcb6256-528d-483f-8a24-980a0329e5b0-image.png

查看 map 无数据输出 odom无相关话题

62e41c4b-f894-4f64-b0a6-5683e2b3e1bc-image.png

f468274a-ce94-4134-b849-ba15812a7b10-image.png

scan有输出

8aedd05c-c5b2-43da-91db-7c65337983a7-image.png
851cdefd-0755-4a22-beeb-0a5c4212a9fe-image.png

gazebo_sim.launch.py 代码 import launch import launch_ros from ament_index_python.packages import get_package_share_directory from launch.launch_description_sources import PythonLaunchDescriptionSource def generate_launch_description(): # 获取默认路径 robot_name_in_model = "fishbot" urdf_tutorial_path = get_package_share_directory('fishbot_description') default_model_path = urdf_tutorial_path + '/urdf/fishbot/firstbot.urdf.xacro' default_world_path = urdf_tutorial_path + '/world/custom_room.world' # 为 Launch 声明参数 action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument( name='model', default_value=str(default_model_path), description='URDF 的绝对路径') # 获取文件内容生成新的参数 robot_description = launch_ros.parameter_descriptions.ParameterValue( launch.substitutions.Command( ['xacro ', launch.substitutions.LaunchConfiguration('model')]), value_type=str) robot_state_publisher_node = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', parameters=[{'robot_description': robot_description}] ) # 通过 IncludeLaunchDescription 包含另外一个 launch 文件 launch_gazebo = launch.actions.IncludeLaunchDescription( PythonLaunchDescriptionSource([get_package_share_directory( 'gazebo_ros'), '/launch', '/gazebo.launch.py']), # 传递参数 launch_arguments=[('world', default_world_path),('verbose','true')] ) # 请求 Gazebo 加载机器人 spawn_entity_node = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', arguments=['-topic', '/robot_description', '-entity', robot_name_in_model, ]) # 加载并激活 fishbot_joint_state_broadcaster 控制器 load_joint_state_controller = launch.actions.ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'fishbot_joint_state_broadcaster'], output='screen' ) # 加载并激活 fishbot_effort_controller 控制器 load_fishbot_effort_controller = launch.actions.ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active','fishbot_effort_controller'], output='screen') load_fishbot_diff_drive_controller = launch.actions.ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active','fishbot_diff_drive_controller'], output='screen') return launch.LaunchDescription([ action_declare_arg_mode_path, robot_state_publisher_node, launch_gazebo, spawn_entity_node, # 事件动作，当加载机器人结束后执行 launch.actions.RegisterEventHandler( event_handler=launch.event_handlers.OnProcessExit( target_action=spawn_entity_node, on_exit=[load_joint_state_controller],) ), # 事件动作，load_fishbot_diff_drive_controller launch.actions.RegisterEventHandler( event_handler=launch.event_handlers.OnProcessExit( target_action=load_joint_state_controller, on_exit=[load_fishbot_diff_drive_controller],) ), ])

42917dc4-86c4-4dce-9796-ecfb8cbe83f5-d0680705-af49-4751-90f3-d136d009ab53.png，出现了如下bug，怎么解决呢

导航时一跑地图就飘了怎么办

~/chapt4/chapt4_ws$ colcon build
Starting >>> chapt4_interfaces
--- stderr: chapt4_interfaces
CMake Error at /opt/ros/jazzy/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:57 (message):
execute_process(/usr/bin/python3 -m rosidl_adapter --package-name
chapt4_interfaces --arguments-file
/home/zhaoyibo/chapt4/chapt4_ws/build/chapt4_interfaces/rosidl_adapter__arguments__chapt4_interfaces.json
--output-dir
/home/zhaoyibo/chapt4/chapt4_ws/build/chapt4_interfaces/rosidl_adapter/chapt4_interfaces
--output-file
/home/zhaoyibo/chapt4/chapt4_ws/build/chapt4_interfaces/rosidl_adapter/chapt4_interfaces.idls)
returned error code 1:

TypeError processing template 'srv.idl.em'

Traceback (most recent call last):

File "<frozen runpy>", line 198, in _run_module_as_main File "<frozen runpy>", line 88, in _run_code File "/opt/ros/jazzy/lib/python3.12/site-packages/rosidl_adapter/__main__.py", line 19, in <module> sys.exit(main()) ^^^^^^ File "/opt/ros/jazzy/lib/python3.12/site-packages/rosidl_adapter/main.py", line 53, in main abs_idl_file = convert_to_idl( ^^^^^^^^^^^^^^^ File "/opt/ros/jazzy/lib/python3.12/site-packages/rosidl_adapter/__init__.py", line 24, in convert_to_idl return convert_srv_to_idl( ^^^^^^^^^^^^^^^^^^^ File "/opt/ros/jazzy/lib/python3.12/site-packages/rosidl_adapter/srv/__init__.py", line 39, in convert_srv_to_idl expand_template('srv.idl.em', data, output_file, encoding='iso-8859-1') File "/opt/ros/jazzy/lib/python3.12/site-packages/rosidl_adapter/resource/__init__.py", line 29, in expand_template content = evaluate_template(template_name, data) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/opt/ros/jazzy/lib/python3.12/site-packages/rosidl_adapter/resource/__init__.py", line 65, in evaluate_template _interpreter = em( ^^^

TypeError: 'module' object is not callable

Call Stack (most recent call first):
/opt/ros/jazzy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:132 (rosidl_adapt_interfaces)
CMakeLists.txt:13 (rosidl_generate_interfaces)

Failed <<< chapt4_interfaces [0.58s, exited with code 1]

按照配套视频2.1.1节写代码，ctrl+c退出后生成日志：
[main:7]:Hello Python Node!
^CTraceback (most recent call last):
File "/home/aokawayou/chapt2/ros2_python_node.py", line 12, in <module>
main()
File "/home/aokawayou/chapt2/ros2_python_node.py", line 8, in main
rclpy.spin(node)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 226, in spin
executor.spin_once()
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 751, in spin_once
self._spin_once_impl(timeout_sec)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 740, in _spin_once_impl
handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 723, in wait_for_ready_callbacks
return next(self._cb_iter)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 620, in _wait_for_ready_callbacks
wait_set.wait(timeout_nsec)
KeyboardInterrupt
然后ros2 node list显示为空，请问是怎么回事，问deepseek说是什么防火墙配置有问题，但按他生成的代码改还是会报错

机械臂关节采用JointTrajectoryController控制器，但是运行时总是无法加载yaml文件中相关参数

controller_manager: ros__parameters: update_rate: 100 # Hz dm_joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster dm_arm_controller: type: joint_trajectory_controller/JointTrajectoryController joints: - joint1 - joint2 - joint3 - joint4 - joint5 - joint6 command_interfaces: - position - velocity state_interfaces: - position - velocity action_name: follow_joint_trajectory interpolation_method: splines constraints: stopped_velocity_tolerance: 0.05 goal_time: 0.0 joint1: trajectory: 0.1 goal: 0.05 joint2: trajectory: 0.1 goal: 0.05 joint3: trajectory: 0.1 goal: 0.05 joint4: trajectory: 0.1 goal: 0.05 joint5: trajectory: 0.1 goal: 0.05 joint6: trajectory: 0.1 goal: 0.05 dm_hand_controller: type: joint_trajectory_controller/JointTrajectoryController joints: - joint7 command_interfaces: - position - velocity state_interfaces: - position - velocity action_name: follow_joint_trajectory interpolation_method: splines constraints: stopped_velocity_tolerance: 0.05 goal_time: 0.0 joint7: trajectory: 0.1 goal: 0.05

launch文件中加载参数

controller_manager_node = launch_ros.actions.Node( package='controller_manager', executable='ros2_control_node', name='controller_manager', parameters=[ {'robot_description': robot_description_value}, ros2_control_yaml_path ], output='screen' )

启动信息

[INFO] [launch]: All log files can be found below /home/hizaml/.ros/log/2025-07-09-22-24-00-351696-Hizam-82561 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [82563] [INFO] [rviz2-2]: process started with pid [82565] [INFO] [ros2_control_node-3]: process started with pid [82567] [robot_state_publisher-1] [INFO] [1752071040.539492469] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1752071040.539638296] [robot_state_publisher]: got segment dummy [robot_state_publisher-1] [INFO] [1752071040.539650469] [robot_state_publisher]: got segment link1 [robot_state_publisher-1] [INFO] [1752071040.539655158] [robot_state_publisher]: got segment link2 [robot_state_publisher-1] [INFO] [1752071040.539659015] [robot_state_publisher]: got segment link3 [robot_state_publisher-1] [INFO] [1752071040.539662822] [robot_state_publisher]: got segment link4 [robot_state_publisher-1] [INFO] [1752071040.539666589] [robot_state_publisher]: got segment link5 [robot_state_publisher-1] [INFO] [1752071040.539670186] [robot_state_publisher]: got segment link6 [robot_state_publisher-1] [INFO] [1752071040.539673713] [robot_state_publisher]: got segment link7_1 [robot_state_publisher-1] [INFO] [1752071040.539677460] [robot_state_publisher]: got segment link7_2 [robot_state_publisher-1] [INFO] [1752071040.539681137] [robot_state_publisher]: got segment link_hand [rviz2-2] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700 [ros2_control_node-3] [WARN] [1752071040.549684168] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ros2_control_node-3] [INFO] [1752071040.550035775] [resource_manager]: Loading hardware 'DmArmHardware' [ros2_control_node-3] [INFO] [1752071040.550712710] [resource_manager]: Initialize hardware 'DmArmHardware' [ros2_control_node-3] [INFO] [1752071040.550881711] [DmArmHardware]: 对了，对了！！！关节数为：7 [ros2_control_node-3] [INFO] [1752071040.553177870] [DmArmHardware]: hardware initialize successfully [ros2_control_node-3] [INFO] [1752071040.553246200] [resource_manager]: Successful initialization of hardware 'DmArmHardware' [ros2_control_node-3] [INFO] [1752071040.553414089] [resource_manager]: 'configure' hardware 'DmArmHardware' [ros2_control_node-3] [INFO] [1752071040.553424699] [resource_manager]: Successful 'configure' of hardware 'DmArmHardware' [ros2_control_node-3] [INFO] [1752071040.553430690] [resource_manager]: 'activate' hardware 'DmArmHardware' [ros2_control_node-3] [INFO] [1752071041.254576291] [DmArmHardware]: all motors enable successfully [ros2_control_node-3] [INFO] [1752071041.254646475] [resource_manager]: Successful 'activate' of hardware 'DmArmHardware' [ros2_control_node-3] [INFO] [1752071041.261977552] [controller_manager]: update rate is 100 Hz [ros2_control_node-3] [INFO] [1752071041.262037335] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 [ros2_control_node-3] [WARN] [1752071041.262176690] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. [rviz2-2] [INFO] [1752071043.449363084] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1752071043.449661230] [rviz2]: OpenGl version: 4.2 (GLSL 4.2) [rviz2-2] [INFO] [1752071043.506870636] [rviz2]: Stereo is NOT SUPPORTED [INFO] [spawner-4]: process started with pid [82676] [ros2_control_node-3] [INFO] [1752071044.152492026] [controller_manager]: Loading controller 'dm_joint_state_broadcaster' [ros2_control_node-3] [WARN] [1752071044.157073422] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [spawner-4] [INFO] [1752071044.202711759] [spawner_dm_joint_state_broadcaster]: Loaded dm_joint_state_broadcaster [ros2_control_node-3] [INFO] [1752071044.206101538] [controller_manager]: Configuring controller 'dm_joint_state_broadcaster' [ros2_control_node-3] [INFO] [1752071044.206280608] [controller_manager]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-4] [INFO] [1752071044.244925844] [spawner_dm_joint_state_broadcaster]: Configured and activated dm_joint_state_broadcaster [INFO] [spawner-4]: process has finished cleanly [pid 82676] [INFO] [spawner-5]: process started with pid [82708] [ros2_control_node-3] [INFO] [1752071046.141788692] [controller_manager]: Loading controller 'dm_arm_controller' [ros2_control_node-3] [WARN] [1752071046.148223692] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [ros2_control_node-3] [WARN] [1752071046.163136248] [controller_manager]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [spawner-5] [INFO] [1752071046.188710095] [spawner_dm_arm_controller]: Loaded dm_arm_controller [ros2_control_node-3] [INFO] [1752071046.190602551] [controller_manager]: Configuring controller 'dm_arm_controller' [ros2_control_node-3] [WARN] [1752071046.190727137] [controller_manager]: 'joints' parameter is empty. [ros2_control_node-3] [INFO] [1752071046.190740211] [controller_manager]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-3] [ERROR] [1752071046.190745992] [controller_manager]: 'command_interfaces' parameter is empty. [ros2_control_node-3] [ERROR] [1752071046.190754288] [controller_manager]: After configuring, controller 'dm_arm_controller' is in state 'unconfigured' , expected inactive. [spawner-5] [ERROR] [1752071046.191433815] [spawner_dm_arm_controller]: Failed to configure controller [ERROR] [spawner-5]: process has died [pid 82708, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner dm_arm_controller --controller-manager controller_manager --ros-args']. [INFO] [spawner-6]: process started with pid [82725] [ros2_control_node-3] [INFO] [1752071047.126284023] [controller_manager]: Loading controller 'dm_hand_controller' [ros2_control_node-3] [WARN] [1752071047.126583410] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [ros2_control_node-3] [WARN] [1752071047.140239527] [controller_manager]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [spawner-6] [INFO] [1752071047.157263783] [spawner_dm_hand_controller]: Loaded dm_hand_controller [ros2_control_node-3] [INFO] [1752071047.159341579] [controller_manager]: Configuring controller 'dm_hand_controller' [ros2_control_node-3] [WARN] [1752071047.159564711] [controller_manager]: 'joints' parameter is empty. [ros2_control_node-3] [INFO] [1752071047.159711239] [controller_manager]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-3] [ERROR] [1752071047.159722059] [controller_manager]: 'command_interfaces' parameter is empty. [ros2_control_node-3] [ERROR] [1752071047.159741316] [controller_manager]: After configuring, controller 'dm_hand_controller' is in state 'unconfigured' , expected inactive. [spawner-6] [ERROR] [1752071047.160704752] [spawner_dm_hand_controller]: Failed to configure controller [ERROR] [spawner-6]: process has died [pid 82725, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner dm_hand_controller --controller-manager controller_manager --ros-args']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [rviz2-2] [INFO] [1752071595.186616144] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-1] [INFO] [1752071595.186621174] [rclcpp]: signal_handler(signum=2) [ros2_control_node-3] [INFO] [1752071595.186613069] [rclcpp]: signal_handler(signum=2) [ros2_control_node-3] [INFO] [1752071595.186994806] [controller_manager]: Shutdown request received.... [ros2_control_node-3] [INFO] [1752071595.187377965] [controller_manager]: Shutting down all controllers in the controller manager. [ros2_control_node-3] [INFO] [1752071595.187514445] [controller_manager]: Deactivating controller 'controller_manager' [ros2_control_node-3] [INFO] [1752071595.187616679] [controller_manager]: Shutting down controller 'controller_manager' [ros2_control_node-3] [INFO] [1752071595.187846415] [controller_manager]: Shutting down controller 'controller_manager' [ros2_control_node-3] [INFO] [1752071595.187911499] [controller_manager]: Shutting down controller 'controller_manager' [ros2_control_node-3] [INFO] [1752071595.188175932] [resource_manager]: 'deactivate' hardware 'DmArmHardware' [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 82563] [INFO] [rviz2-2]: process has finished cleanly [pid 82565] [ros2_control_node-3] [INFO] [1752071595.889474691] [DmArmHardware]: all motors disable successfully [ros2_control_node-3] [INFO] [1752071595.889542410] [resource_manager]: Successful 'deactivate' of hardware 'DmArmHardware' [ros2_control_node-3] [INFO] [1752071595.889551787] [resource_manager]: 'shutdown' hardware 'DmArmHardware' [ros2_control_node-3] [INFO] [1752071595.889557699] [resource_manager]: Successful 'shutdown' of hardware 'DmArmHardware' [ros2_control_node-3] [INFO] [1752071595.889590281] [controller_manager]: Shutting down the controller manager. [INFO] [ros2_control_node-3]: process has finished cleanly [pid 82567]``` code_text

通过电脑PC端和MobaXterm工具ssh连接Ubuntu22.04下的ROS2系统会导致运行的机器人的导航崩溃。
以下是报错打印信息：
r dropping message: frame 'camera_depth_frame' at time 1752048089.514 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Jul 09 00:01:30 localhost.localdomain bash[846]: [map.py-2] [controller_server-1] [INFO] [1752048090.733266201] [local_costmap.local_costmap]: Message Filter dropping message: frame 'camera_depth_frame' at time 1752048089.619 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Jul 09 00:01:30 localhost.localdomain bash[846]: [map.py-2] [controller_server-1] [INFO] [1752048090.833015331] [local_costmap.local_costmap]: Message Filter dropping message: frame 'camera_depth_frame' at time 1752048089.716 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Jul 09 00:01:30 localhost.localdomain bash[846]: [map.py-2] [controller_server-1] [INFO] [1752048090.878677101] [local_costmap.local_costmap]: Message Filter dropping message: frame 'camera_depth_frame' at time 1752048089.818 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Jul 09 00:01:31 localhost.localdomain bash[846]: [charging_manager.py-4] [INFO] [1752048091.431151796] [charging_manager]: 电池电量: 67.0%
Jul 09 00:01:31 localhost.localdomain bash[846]: [charging_manager.py-4] [INFO] [1752048091.433845382] [charging_manager]: 当前机器人状态: IDLE
Jul 09 00:01:31 localhost.localdomain bash[846]: [charging_manager.py-4] [INFO] [1752048091.438878256] [charging_manager]: 电池电量: 67.0%
Jul 09 00:01:31 localhost.localdomain bash[846]: [charging_manager.py-4] [INFO] [1752048091.440975554] [charging_manager]: 充电请求标志: False
Jul 09 00:01:31 localhost.localdomain bash[846]: [charging_manager.py-4] [INFO] [1752048091.443213488] [charging_manager]: 恢复请求标志: False
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [amcl-2] [INFO] [1752048092.257164954] [amcl]: Message Filter dropping message: frame 'laser_link' at time 1752048091.180 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [lifecycle_manager-3] [INFO] [1752048092.278662931] [lifecycle_manager_localization]: Have not received a heartbeat from amcl.
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [lifecycle_manager-3] [ERROR] [1752048092.278842934] [lifecycle_manager_localization]: CRITICAL FAILURE: SERVER amcl IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes.
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [lifecycle_manager-3] [INFO] [1752048092.278918293] [lifecycle_manager_localization]: Terminating bond timer...
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [lifecycle_manager-3] [INFO] [1752048092.278970490] [lifecycle_manager_localization]: Resetting managed nodes...
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [lifecycle_manager-3] [INFO] [1752048092.279018979] [lifecycle_manager_localization]: Deactivating amcl
Jul 09 00:01:32 localhost.localdomain bash[846]: [make_robot_pose.py-6] [INFO] [1752048092.409753588] [make_robot_pose]: TF Status:
Jul 09 00:01:32 localhost.localdomain bash[846]: [make_robot_pose.py-6] map -> odom: OK
Jul 09 00:01:32 localhost.localdomain bash[846]: [make_robot_pose.py-6] odom -> base_footprint: OK
Jul 09 00:01:32 localhost.localdomain bash[846]: [make_robot_pose.py-6] Last successful pose: 6.2s ago
Jul 09 00:01:32 localhost.localdomain bash[846]: [make_robot_pose.py-6] Consecutive timeouts: 0
Jul 09 00:01:33 localhost.localdomain bash[846]: [map.py-2] [lifecycle_manager-8] [INFO] [1752048093.083513167] [lifecycle_manager_navigation]: Have not received a heartbeat from controller_server.
Jul 09 00:01:33 localhost.localdomain bash[846]: [map.py-2] [lifecycle_manager-8] [ERROR] [1752048093.083654637] [lifecycle_manager_navigation]: CRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes.
Jul 09 00:01:33 localhost.localdomain bash[846]: [map.py-2] [lifecycle_manager-8] [INFO] [1752048093.083700544] [lifecycle_manager_navigation]: Terminating bond timer...
Jul 09 00:01:33 localhost.localdomain bash[846]: [map.py-2] [lifecycle_manager-8] [INFO] [1752048093.083733537] [lifecycle_manager_navigation]: Resetting managed nodes...
Jul 09 00:01:33 localhost.localdomain bash[846]: [map.py-2] [lifecycle_manager-8] [INFO] [1752048093.083766405] [lifecycle_manager_navigation]: Deactivating velocity_smoother
Jul 09 00:01:37 localhost.localdomain bash[846]: [map.py-2] [behavior_server-4] [WARN] [1752048097.340890566] [behavior_server]: Exceeded time allowance before reaching the DriveOnHeading goal - Exiting DriveOnHeading
Jul 09 00:01:37 localhost.localdomain bash[846]: [map.py-2] [behavior_server-4] [WARN] [1752048097.341021872] [behavior_server]: backup failed
Jul 09 00:01:37 localhost.localdomain bash[846]: [map.py-2] [behavior_server-4] [WARN] [1752048097.341065612] [behavior_server]: [backup] [ActionServer] Aborting handle.
Jul 09 00:01:37 localhost.localdomain bash[846]: [make_robot_pose.py-6] [INFO] [1752048097.410241699] [make_robot_pose]: TF Status:
Jul 09 00:01:37 localhost.localdomain bash[846]: [make_robot_pose.py-6] map -> odom: OK
Jul 09 00:01:37 localhost.localdomain bash[846]: [make_robot_pose.py-6] odom -> base_footprint: OK
Jul 09 00:01:37 localhost.localdomain bash[846]: [make_robot_pose.py-6] Last successful pose: 11.2s ago
Jul 09 00:01:37 localhost.localdomain bash[846]: [make_robot_pose.py-6] Consecutive timeouts: 0
Jul 09 00:01:42 localhost.localdomain bash[846]: [make_robot_pose.py-6] [INFO] [1752048102.411102926] [make_robot_pose]: TF Status:
Jul 09 00:01:42 localhost.localdomain bash[846]: [make_robot_pose.py-6] map -> odom: OK
Jul 09 00:01:42 localhost.localdomain bash[846]: [make_robot_pose.py-6] odom -> base_footprint: OK
Jul 09 00:01:42 localhost.localdomain bash[846]: [make_robot_pose.py-6] Last successful pose: 16.2s ago

队列满（Queue is full）：激光雷达消息产生速度超过 RViz 消息队列处理速度，导致队列溢出丢消息。
时间戳过期（Timestamp earlier）：激光雷达消息时间戳早于 TF 变换缓存中的数据，无法找到对应坐标变换，所以丢弃。
use_sim_time看了下都是True
9251321e-c810-48f7-a391-3781cc9bacec-image.png
2c56dcc2-3fdf-4d47-8a4f-5cfb7fb84c46-image.png

config的demo.launch后plan总是failed。编译都成功了，不知道为什么这个总是失败

b96b6680-40e9-425c-ad94-826be8d0c082-8fcac261f63f6f452d8639840c18b0a.jpg
小鱼，请问一下最新的v1.8的板子排针按上后没有电信号也没有电流需要怎么激活呀

Traceback (most recent call last):
File "/home/ebox12/connect_ws/install/time_communication/lib/time_communication/time_publisher", line 11, in <module>
load_entry_point('time-communication', 'console_scripts', 'time_publisher')()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point
return get_distribution(dist).load_entry_point(group, name)
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point
return ep.load()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load
return self.resolve()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve
module = import(self.module_name, fromlist=['name'], level=0)
File "/home/ebox12/connect_ws/build/time_communication/time_communication/time_publisher.py", line 4, in <module>
from time_communication.msg import TimeData
ModuleNotFoundError: No module named 'time_communication.msg'
daff6682-a791-405f-b75d-24080aa3f823-image.png
setup.py
a3c31ccf-6d6b-4dce-8e9f-5c010ede17d6-image.png
package.xml
74254411-83df-4f39-97da-03d00d3aae30-image.png
TimeData.msg
561a58d7-7430-4889-aa1a-eef0e00e28a4-image.png

现在我们的unitree g1机器人的ip为192.168.123.4，我么的自己的主机ip为192.168.123.123，二者通过网线连接，且可以相互ping通，两个主机都已经关闭了防火墙。
我们需要让192.168.123.4接收到来自192.168.123.123的topic，但是经过尝试，在192.168.123.123运行ros2 run demo_nodes_cpp talker； 在192.168.123.4运行ros2 run demo_nodes_cpp listener ,但是没有正常输出。关于二者的有关ROS的环境变量：

(g1) unitree@ubuntu:</del>/g1_deploy/g1$ printenv | grep ROS
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_DOMAIN_ID=42
ROS_LOCALHOST_ONLY=0
ROS_DISTRO=foxy
(base) franka@franka-HP-Z2-Tower-G9-Workstation-Desktop-PC:<del>/zjm/Livox-SDK2$ printenv | grep ROS
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_DOMAIN_ID=42
ROS_LOCALHOST_ONLY=0
ROS_DISTRO=foxy
想问问可能是什么原因导致192.168.123.123的topic无法正常被192.168.123.4订阅？

bf1756a2-d40f-4b21-a569-ee6c57dcdae4-image.png
69a479b5-ad4a-4ce2-aeaa-903134d37400-image.png
1ed41aac-79a1-43ad-94fa-1cd629c4a743-image.png
944d2d0f-0237-4ced-b347-489e5dc90f21-image.png

大佬们，请教一个问题，我的环境是ros1 noetic。我利用moveit进行运动规划；启动以后，在rviz中的motionplanning中的scene objects添加物体，publish出去以后。我进行运动规划的时候感觉并没有识别到我发布的这个物体。不知道是什么原因；是没有成功发布？还是发布的物体没有看来障碍物？还是需要什么其他的设置呢。

5c3c591c-a5c7-4745-b751-0f3ddd78725d-image.png

《ROS 2机器人开发》书中114页通过节点修改参数，书里面讲述的例子是修改的模型这个参数，如果想修改检测次数upsample_times这个参数应该怎么做，我模仿书中修改模型model参数的例子写了但是不行，请教一下应该怎么办？
是不是SetParameters里面的integer_value不是检测次数
new_model_value.integer_value=int(detect_times)这一行应该是有问题，请教应该怎么修改。

import rclpy from rclpy.node import Node from chapt4_interfaces.srv import FaceDetector from sensor_msgs.msg import Image import cv2 from cv_bridge import CvBridge from rcl_interfaces.srv import SetParameters from rcl_interfaces.msg import Parameter,ParameterValue,ParameterType import time class FaceDetectorClient(Node): def __init__(self,node_name,image_path): super().__init__(node_name) self.client =self.create_client(FaceDetector,'face_detect') self.bridge=CvBridge() self.image_path=image_path self.image =cv2.imread(self.image_path) def send_request(self): while self.client.wait_for_service(timeout_sec=1) is False: self.get_logger().info('服务端未上线...') request=FaceDetector.Request() request.image=self.bridge.cv2_to_imgmsg(self.image) future=self.client.call_async(request) rclpy.spin_until_future_complete(self,future) response=future.result() self.get_logger().info(f'收到响应：图像共有：{response.number}张脸，耗时{response.use_time}') # self.show_face_location(response) def show_face_location(self,response): for i in range(response.number): top =response.top[i] right=response.right[i] bottom=response.bottom[i] left=response.left[i] cv2.rectangle(self.image,(left,top),(right,bottom),(0,0,255),2) cv2.imshow('人脸检测结果',self.image) cv2.waitKey(0) def call_set_parameter(self,parameters): update_param_client=self.create_client(SetParameters,'/face_detect_node/set_parameters') while update_param_client.wait_for_service(timeout_sec=1) is False: self.get_logger().info('等待参数更新服务端上线...') time.sleep(1.0) request=SetParameters.Request() request.parameters=parameters future=update_param_client.call_async(request) rclpy.spin_until_future_complete(self,future) response=future.result() return response def update_detect_model(self,model_name): param=Parameter() param.name='set_model' new_model_value=ParameterValue() new_model_value.type=ParameterType.PARAMETER_STRING new_model_value.string_value=model_name param.value=new_model_value response=self.call_set_parameter([param]) for result in response.results: if result.successful: self.get_logger().info(f'参数{param.name}设置为{model_name}') else: self.get_logger().info(f'参数设置失败，原因为{result.reason}') def update_detect_times(self,detect_times): param=Parameter() param.name='upsample_times' new_model_value=ParameterValue() new_model_value.type=ParameterType.PARAMETER_STRING new_model_value.integer_value=int(detect_times) param.value=new_model_value response=self.call_set_parameter([param]) for result in response.results: if result.successful: self.get_logger().info(f'参数{param.name}设置为{detect_times}') else: self.get_logger().info(f'参数设置失败，原因为{result.reason}') def main(args=None): rclpy.init(args=args) node=FaceDetectorClient('face_detect_client',image_path='/home/bonoit/Desktop/1.jpg') node.update_detect_model('cnn') node.send_request() node.update_detect_model('hog') node.send_request() detect_times=2 node.update_detect_times(detect_times) node.send_request() rclpy.spin(node) node.destroy_node() rclpy.shutdown()

51cfb266-ea72-47a5-b4c5-8f3b4649e5f5-image.png controller_manager:
ros__parameters:
update_rate: 100 # Hz
use_sim_time: true
fishbot_joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
use_sim_time: true
update_rate: 50
rear_wheels_velocity_controller:
type: ackermann_steering_controller/AckermannSteeringController

# left_wheel: "lbj" # 后左轮关节名 # right_wheel: "rbj" # 后右轮关节名 # left_steering: "lftj" # 前轮转向关节 # right_steering: "rftj" #front_steering_joints: ["lftj", "rftj"] # 必须匹配 URDF rear_wheel_joints: ["rbj", "lbj"] front_wheel_joints: ["rfj", "lfj"] wheelbase: 0.63 # 前后轮轴距（米） wheel_radius: 0.075 wheel_separation: 0.88 # 左右轮距（米） max_steer_angle: 0.52 cmd_vel_topic: "/cmd_vel" # 订阅的cmd_vel话题 odom_topic: "/odom" # 发布的里程计话题 odom_frame_id: odom base_frame_id: base_footprint pose_covariance_diagonal: [0.001, 0.001, 0.0, 0.0, 0.0, 0.01] twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01] enable_odom_tf: true # 启用odom到base_link的TF变换 cmd_vel_timeout: 0.5 # 指令超时时间（秒） publish_rate: 50.0 # 发布频率（Hz） use_stamped_vel: false # 不使用时间戳速度指令 open_loop: true # 前轮转向控制器（位置控制） fishbot_front_wheels_position_controller: type: position_controllers/JointGroupPositionController

fishbot_front_wheels_position_controller:
ros__parameters:

joints: ["lftj","rftj"] command_interfaces: ["position"] state_interfaces: ["position"]

检查了一下指标，发现没怎么有问题，自己调了半天也没调上来，该怎么办呀？
d7d2c2fb-e470-4b09-ad5b-b09d10be2c8b-image.png

标题：机械臂在gazebo里面仿真，rviz里面的姿态和gazebo不一样（ros2 humble，gazebo classic） 背景(可选)：

我目前正在学习通过ros2驱动机械臂实现抓取的功能，目前的阶段是想实现在gazebo里面进行仿真

问题描述： 我想要在gazebo里面进行仿真，实现机械臂末端有夹爪能够夹取东西，但是目前在rivz里面显示的效果和在gazebo里面是不一样的，问题就是gazebo显示的画面里，桌子是一直抖动的状态，机械臂在gazebo里面也是瘫软无力的，需要怎么解决 具体细节和上下文：

f10fd21d-2d92-41f3-97a9-100c4bea9319-image.png
3420f2c2-016d-4da3-91b7-1fb866d945f5-image.png

尝试过的解决方法：

具体的就是修改了urdf文件，修改了桌子的惯性参数，但是也不确定自己修改的是不是对的，问过老师，老师说我需要添加controller，但是也不知道做，没有一个大体的思路

e1d744a8-c2f1-4092-a3c9-63c5000e7532-ccadef6b-38e3-4d46-a578-a643ddc21c77.png

下面是我的代码
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
import os
import launch_ros.parameter_descriptions

def generate_launch_description():
urdf_package_path=get_package_share_directory('fishbot_description')
default_urdf_path=os.path.join(urdf_package_path,'urdf','first_robot.urdf')

action_declare_arg_mode_path=launch.actions.DeclareLaunchArgument( name='model',default_value=str(default_urdf_path),description='加载的模型文件路径' ) substitutions_result=launch.substitutions.Command(['cat ',launch.substitutions.launch_configuration('model')]) robot_description_value=launch_ros.parameter_descriptions.ParameterValue(substitutions_result,value_type=str) action_robot_state_publisher=launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', parameters=[{'robot_description':robot_description_value}] ) action_joint_state_publisher=launch_ros.actions.Node( package='joint_state_publisher', executable='joint_state_publisher', ) action_rviz_node=launch_ros.actions.Node( package='rviz2', executable='rviz2', ) return launch.launch_description([ action_declare_arg_mode_path, action_robot_state_publisher, action_joint_state_publisher, action_rviz_node, ])