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, ])

请问，ROS2 humble能否设置日志文件大小且实现轮转，就是存储日志到文件到达一定大小后，新建文件存储后续内容

ros2 FollowWaypoints action server is not available （ros2 foxy版本 ubuntu20）

但ros2命令执行发现 FollowWaypoint 的node action service都在
而且rviz2是可以做导航的。（按钮驱动）
用的是navigation2 (humble的)
主要代码如下：
from geometry_msgs.msg import PoseStamped
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
import rclpy
from rclpy.duration import Duration
import tf_transformations

def main():
rclpy.init()

navigator = BasicNavigator() # 位置初始化 # initial_pose = PoseStamped() # initial_pose.header.frame_id = 'map' # initial_pose.header.stamp = navigator.get_clock().now().to_msg() # initial_pose.pose.position.x = 3.45 # initial_pose.pose.position.y = 2.15 # initial_pose.pose.orientation.z = 1.0 # initial_pose.pose.orientation.w = 0.0 # navigator.setInitialPose(initial_pose) navigator.waitUntilNav2Active() #添加导航点 goal_poses = [] goal_pose1 = PoseStamped() goal_pose1.header.frame_id = 'map' goal_pose1.header.stamp = navigator.get_clock().now().to_msg() goal_pose1.pose.position.x = 1.5 goal_pose1.pose.position.y = -0.55 yaw=0 quat=tf_transformations.quaternion_from_euler(0,0,yaw) goal_pose1.pose.orientation.x = quat[0] goal_pose1.pose.orientation.y = quat[1] goal_pose1.pose.orientation.z = quat[2] goal_pose1.pose.orientation.w = quat[3] goal_poses.append(goal_pose1) goal_pose2 = PoseStamped() goal_pose2.header.frame_id = 'map' goal_pose2.header.stamp = navigator.get_clock().now().to_msg() goal_pose2.pose.position.x = 0.3 goal_pose2.pose.position.y = -0.2 yaw=0 quat=tf_transformations.quaternion_from_euler(0,0,yaw) goal_pose2.pose.orientation.x = quat[0] goal_pose2.pose.orientation.y = quat[1] goal_pose2.pose.orientation.z = quat[2] goal_pose2.pose.orientation.w = quat[3] goal_poses.append(goal_pose2) goal_pose3 = PoseStamped() goal_pose3.header.frame_id = 'map' goal_pose3.header.stamp = navigator.get_clock().now().to_msg() goal_pose3.pose.position.x = -0.8 goal_pose3.pose.position.y = -0.3 yaw=0 quat=tf_transformations.quaternion_from_euler(0,0,yaw) goal_pose3.pose.orientation.x = quat[0] goal_pose3.pose.orientation.y = quat[1] goal_pose3.pose.orientation.z = quat[2] goal_pose3.pose.orientation.w = quat[3] goal_poses.append(goal_pose3) nav_start = navigator.get_clock().now() navigator.followWaypoints(goal_poses)

雷达自带imu，机器人自身也有配imu，当前雷达是倾斜放置的，为了有一定高度同时探测地面低矮的障碍物，尝试了一些配置，有以下问题
1：如果tracking_frame配置为base_link，会报错，要求imu的frame id和base_link不能离太远，3d建图配置里没找到哪里可以禁用imu
2：如果tracking_frame配置为imu的frame id，则rviz中map会倾斜，导致地图都是灰色或黑色

两个imu都没有和base_link重合

0a8915de-36bc-4427-93aa-adc66e8f6b7c-image.png

请教大家个问题，在ros2的导航配置文件中，如何对规划好的全局路径进行平滑优化呢？如何在BT行为树中添加smoother_path节点？

就是我用 nc -l 8889 小车不会显示 hello fishros 然后我看雷达板上 的ip 也没了 #

标题：使用一键安装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 60, in main from tools.base import CmdTask,FileUtils,PrintUtils,ChooseTask,ChooseWithCategoriesTask,Tracking ImportError: cannot import name 'CmdTask' from 'tools.base' (/tmp/fishinstall/tools/base.py)

4d00eb253db5251d8d9e682f7445fac.png
6.4.2 安装sudo apt install ros-$ROS_DISTRO-gazebo-ros-pkgs这个功能包的时候安装失败，是不是安装包被删除了啊

3d1f36c5-d9ea-4f6c-ad93-218f527fd241-449647d2b480ebcc08d674dba2c2dee.png

应该是gpu方面gazebo和wsl2有冲突，实测把gazebo换成cpu渲染可以正常运行，但一运行cpu占用就90%，电脑风扇呼呼响，不是个办法，想问下有大佬知道怎么办吗

具体报错信息为[Err] [Model.cc:1160] Exception occured in the Load function of plugin with name[gazebo_ros2_control] and filename[libgazebo_ros2_control.so]. This plugin will not run.
[ERROR] [gzserver-2]: process has died [pid 4992, exit code -11, cmd 'gzserver /home/sy/ros2/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[gzserver-2]
不启用这个插件就不会报错，fishbot.ros2_control.xacro中的代码：
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="fishbot_ros2_control">
<ros2_control name="FishBotGazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="left_wheel_joint">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="effort">
<param name="min">-0.1</param>
<param name="max">0.1</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
<joint name="right_wheel_joint">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="effort">
<param name="min">-0.1</param>
<param name="max">0.1</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find fishbot_description)/config/fishbot_ros2_controller.yaml</parameters>
</plugin>
</gazebo>
</xacro:macro>
</robot>

fishbot_ros2_controller.yaml：
controller_manager:
ros__parameters:
update_rate: 100.0
use_sim_time: true