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......“

开发一个上手就用的机器人仿真系统，是我们这个团队的一个愿望。所以，我们就开发了一个叫rabo的系统。
rabo是一个基于浏览器的机器人sim2real平台，可以理解为浏览器版本的gazebo，我们还额外做了快速部署硬件的功能。
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，告别虚拟机告别搭环境，直接开工～

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：
http://demo.rdtp.rastorigin.tech:20252/display/xFbOBGWmmKJTrNkV

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
X

Run CMD Task:[sudo apt install ros-noetic-desktop-full -y]
Reading package lists... Done
Building dependency tree
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:
ros-noetic-desktop-full : Depends: ros-noetic-desktop but it is not going to be installed
Depends: ros-noetic-perception but it is not going to be installed
Depends: ros-noetic-simulators but it is not going to be installed
Depends: ros-noetic-urdf-sim-tutorial but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
Run CMD Task:[sudo apt install ros-noetic-desktop-full -y]
[-][2.51s] CMD Result:code:100

一键安装
W

我是ros2 humble 安装的moveit2
使用moveit_setup_assistant配置好的config文件夹，该做的设置都做了，demo.launch.py也能跑起来。
在我运行一个运动规划时报错：
[ERROR] [1755228331.551841031] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached
[ERROR] [1755228331.552188515] [moveit_ik_demo]: Plan (pose goal) FAILED
同时[WARN] [1755228291.666113659] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
很奇怪，
demo.launch.py内容如下

from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_demo_launch def generate_launch_description(): moveit_config = MoveItConfigsBuilder("zhijiao_robot", package_name="zhijiao_robot0802_moveit_config").to_moveit_configs() # print(moveit_config) return generate_demo_launch(moveit_config)

demo.launch.py运行信息：

root@DESKTOP-AOGOC7F:~/dev_ws/src/ros2_21_tutorials# ros2 launch zhijiao_robot0802_moveit_config demo.launch.py [INFO] [launch]: All log files can be found below /home/wzy/.ros/log/2025-08-15-15-08-09-668257-DESKTOP-AOGOC7F-56360 [INFO] [launch]: Default logging verbosity is set to INFO Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. [INFO] [robot_state_publisher-1]: process started with pid [56375] [INFO] [move_group-2]: process started with pid [56377] [INFO] [rviz2-3]: process started with pid [56379] [INFO] [ros2_control_node-4]: process started with pid [56381] [INFO] [spawner-5]: process started with pid [56383] [INFO] [spawner-6]: process started with pid [56385] [robot_state_publisher-1] [INFO] [1755241690.281353069] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1755241690.281527387] [robot_state_publisher]: got segment gripper [robot_state_publisher-1] [INFO] [1755241690.281539478] [robot_state_publisher]: got segment link1 [robot_state_publisher-1] [INFO] [1755241690.281543484] [robot_state_publisher]: got segment link2 [robot_state_publisher-1] [INFO] [1755241690.281546746] [robot_state_publisher]: got segment link3 [robot_state_publisher-1] [INFO] [1755241690.281549728] [robot_state_publisher]: got segment world [ros2_control_node-4] [WARN] [1755241690.294639111] [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-4] [INFO] [1755241690.294971940] [resource_manager]: Loading hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.296947580] [resource_manager]: Initialize hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.297019335] [resource_manager]: Successful initialization of hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.297073423] [resource_manager]: 'configure' hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.297080134] [resource_manager]: Successful 'configure' of hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.297084450] [resource_manager]: 'activate' hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.297089252] [resource_manager]: Successful 'activate' of hardware 'FakeSystem' [ros2_control_node-4] [INFO] [1755241690.303197239] [controller_manager]: update rate is 1000 Hz [ros2_control_node-4] [INFO] [1755241690.303236810] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 [ros2_control_node-4] [WARN] [1755241690.303419561] [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. [move_group-2] [INFO] [1755241690.311139169] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0282244 seconds [move_group-2] [INFO] [1755241690.311553283] [moveit_robot_model.robot_model]: Loading robot model 'zhijiao_robot'... [move_group-2] [INFO] [1755241690.311573804] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-3] QStandardPaths: runtime directory '/run/user/1000/' is not owned by UID 0, but a directory permissions 0755 owned by UID 1000 GID 1000 [move_group-2] [INFO] [1755241690.368560280] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-2] [INFO] [1755241690.368718765] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-2] [INFO] [1755241690.369369249] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-2] [INFO] [1755241690.370079608] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-2] [INFO] [1755241690.370111037] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-2] [INFO] [1755241690.370440117] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-2] [INFO] [1755241690.370459247] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-2] [INFO] [1755241690.370769098] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-2] [INFO] [1755241690.371073262] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-2] [WARN] [1755241690.373731793] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-2] [ERROR] [1755241690.373763222] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [move_group-2] [INFO] [1755241690.374607806] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl' [move_group-2] [INFO] [1755241690.408689412] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-2] [INFO] [1755241690.418498010] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1755241690.418534052] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1755241690.418540057] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000 [move_group-2] [INFO] [1755241690.418584222] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-2] [INFO] [1755241690.418601224] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000 [move_group-2] [INFO] [1755241690.418606265] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1755241690.418617808] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1755241690.418625534] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-2] [INFO] [1755241690.418645399] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100 [move_group-2] [INFO] [1755241690.418658623] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-2] [INFO] [1755241690.418665235] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-2] [INFO] [1755241690.418668675] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-2] [INFO] [1755241690.418672274] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-2] [INFO] [1755241690.418675456] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-2] [INFO] [1755241690.418678747] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-2] [INFO] [1755241690.428663890] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner' [move_group-2] [INFO] [1755241690.438158376] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-2] [INFO] [1755241690.443647834] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-2] [INFO] [1755241690.443686819] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC [move_group-2] [INFO] [1755241690.451073455] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC] [move_group-2] [INFO] [1755241690.451116228] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN [move_group-2] [INFO] [1755241690.453484318] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN] [move_group-2] [INFO] [1755241690.453519057] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-2] [INFO] [1755241690.455588758] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP] [move_group-2] [INFO] [1755241690.455650502] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner' [move_group-2] [INFO] [1755241690.456677437] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp' [ros2_control_node-4] [INFO] [1755241690.468645836] [controller_manager]: Loading controller 'joint_state_broadcaster' [move_group-2] [INFO] [1755241690.473649728] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP' [move_group-2] [INFO] [1755241690.481751971] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1755241690.481792060] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1755241690.481797836] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000 [move_group-2] [INFO] [1755241690.481822365] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-2] [INFO] [1755241690.481835549] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000 [move_group-2] [INFO] [1755241690.481839844] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1755241690.481847649] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1755241690.481851586] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000 [move_group-2] [INFO] [1755241690.481855832] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100 [move_group-2] [INFO] [1755241690.481862692] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-2] [INFO] [1755241690.481866470] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-2] [INFO] [1755241690.481868966] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-2] [INFO] [1755241690.481871392] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-2] [INFO] [1755241690.481873659] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-2] [INFO] [1755241690.481876681] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [ros2_control_node-4] [INFO] [1755241690.486809260] [controller_manager]: Loading controller 'manipulator_controller' [ros2_control_node-4] [WARN] [1755241690.506926912] [manipulator_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [spawner-6] [INFO] [1755241690.507374786] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-4] [INFO] [1755241690.508775132] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-4] [INFO] [1755241690.508911455] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-6] [INFO] [1755241690.524652598] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [spawner-5] [INFO] [1755241690.527026593] [spawner_manipulator_controller]: Loaded manipulator_controller [ros2_control_node-4] [INFO] [1755241690.528512523] [controller_manager]: Configuring controller 'manipulator_controller' [ros2_control_node-4] [INFO] [1755241690.528679032] [manipulator_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-4] [INFO] [1755241690.528761923] [manipulator_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity]. [ros2_control_node-4] [INFO] [1755241690.528796106] [manipulator_controller]: Using 'splines' interpolation method. [ros2_control_node-4] [INFO] [1755241690.529828635] [manipulator_controller]: Controller state will be published at 50.00 Hz. [ros2_control_node-4] [INFO] [1755241690.532093829] [manipulator_controller]: Action status changes will be monitored at 20.00 Hz. [move_group-2] [INFO] [1755241690.535834790] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for manipulator_controller [move_group-2] [INFO] [1755241690.536050315] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1755241690.536090076] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1755241690.536626986] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-2] [INFO] [1755241690.536644664] [move_group.move_group]: MoveGroup debug mode is ON [spawner-5] [INFO] [1755241690.542301507] [spawner_manipulator_controller]: Configured and activated manipulator_controller [move_group-2] [INFO] [1755241690.569099677] [move_group.move_group]: [move_group-2] [move_group-2] ******************************************************** [move_group-2] * MoveGroup using: [move_group-2] * - ApplyPlanningSceneService [move_group-2] * - ClearOctomapService [move_group-2] * - CartesianPathService [move_group-2] * - ExecuteTrajectoryAction [move_group-2] * - GetPlanningSceneService [move_group-2] * - KinematicsService [move_group-2] * - MoveAction [move_group-2] * - MotionPlanService [move_group-2] * - QueryPlannersService [move_group-2] * - StateValidationService [move_group-2] ******************************************************** [move_group-2] [move_group-2] [INFO] [1755241690.569172566] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-2] [INFO] [1755241690.569180659] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-2] Loading 'move_group/ApplyPlanningSceneService'... [move_group-2] Loading 'move_group/ClearOctomapService'... [move_group-2] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-2] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-2] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-2] Loading 'move_group/MoveGroupKinematicsService'... [move_group-2] Loading 'move_group/MoveGroupMoveAction'... [move_group-2] Loading 'move_group/MoveGroupPlanService'... [move_group-2] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-2] Loading 'move_group/MoveGroupStateValidationService'... [move_group-2] [move_group-2] You can start planning now! [move_group-2] [INFO] [spawner-6]: process has finished cleanly [pid 56385] [INFO] [spawner-5]: process has finished cleanly [pid 56383] [rviz2-3] [INFO] [1755241691.973746834] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1755241691.973846150] [rviz2]: OpenGl version: 4.2 (GLSL 4.2) [rviz2-3] [INFO] [1755241692.041048352] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. [rviz2-3] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp [rviz2-3] [ERROR] [1755241695.253089703] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-3] [INFO] [1755241695.278270515] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-3] [INFO] [1755241695.431960017] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0707571 seconds [rviz2-3] [INFO] [1755241695.432019926] [moveit_robot_model.robot_model]: Loading robot model 'zhijiao_robot'... [rviz2-3] [INFO] [1755241695.432038295] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-3] [INFO] [1755241695.529597457] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-3] [INFO] [1755241695.530216213] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-3] [INFO] [1755241695.546024051] [interactive_marker_display_109107901472208]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-3] [INFO] [1755241695.553036098] [moveit_ros_visualization.motion_planning_frame]: group manipulator [rviz2-3] [INFO] [1755241695.553079000] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' [rviz2-3] [INFO] [1755241695.562488219] [move_group_interface]: Ready to take commands for planning group manipulator. [rviz2-3] [INFO] [1755241695.563656181] [moveit_ros_visualization.motion_planning_frame]: group manipulator [rviz2-3] [INFO] [1755241695.583086131] [interactive_marker_display_109107901472208]: Sending request for interactive markers [rviz2-3] [INFO] [1755241695.606071280] [interactive_marker_display_109107901472208]: Service response received for initialization``` 运行信息看起来一切正常 moveit_ik_demo.cpp内容如下：

#include <rclcpp/rclcpp.hpp>
#include<moveit/move_group_interface/move_group_interface.h>
#include <geometry_msgs/msg/pose.hpp>
#include <chrono>
#include <thread>

int main(int argc, char **argv)
{
// 初始化 ROS 2 节点
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
auto node = rclcpp::Node::make_shared("moveit_ik_demo", options);

// 创建 MoveGroup 接口 moveit::planning_interface::MoveGroupInterface arm(node, "manipulator"); // 获取终端 link 的名称 std::string end_effector_link = arm.getEndEffectorLink(); RCLCPP_INFO(node->get_logger(), "End effector link: %s", end_effector_link.c_str()); // 设置目标位置所使用的参考坐标系 std::string reference_frame = "base_link"; arm.setPoseReferenceFrame(reference_frame); // 当运动规划失败后，允许重新规划 arm.allowReplanning(true); // 设置位置（单位：米）和姿态（单位：弧度）的允许误差 arm.setGoalPositionTolerance(0.001); arm.setGoalOrientationTolerance(0.01); // 设置允许的最大速度和加速度 arm.setMaxAccelerationScalingFactor(0.2); arm.setMaxVelocityScalingFactor(0.2); // 控制机械臂先回到初始化位置 arm.setNamedTarget("pose1"); arm.move(); std::this_thread::sleep_for(std::chrono::seconds(1)); // 设置机器人终端的目标位置 geometry_msgs::msg::Pose target_pose; target_pose.orientation.x = 0.70692; target_pose.orientation.y = 0.0; target_pose.orientation.z = 0.0; target_pose.orientation.w = 0.70729; target_pose.position.x = 0.5; target_pose.position.y = 0.3; target_pose.position.z = 0.4; // 设置机器臂当前的状态作为运动初始状态 arm.setStartStateToCurrentState(); arm.setPoseTarget(target_pose); // 进行运动规划，计算机器人移动到目标的运动轨迹，此时只是计算出轨迹，并不会控制机械臂运动 moveit::planning_interface::MoveGroupInterface::Plan plan; // moveit::planning_interface::MoveItErrorCode success = arm.plan(plan); moveit::core::MoveItErrorCode success = arm.plan(plan); if (success) { RCLCPP_INFO(node->get_logger(), "Plan (pose goal) SUCCESS"); arm.execute(plan); std::this_thread::sleep_for(std::chrono::seconds(1)); } else { RCLCPP_ERROR(node->get_logger(), "Plan (pose goal) FAILED"); } // 控制机械臂先回到初始化位置 arm.setNamedTarget("home"); arm.move(); std::this_thread::sleep_for(std::chrono::seconds(1)); rclcpp::shutdown(); return 0;

}

运行信息如下：

root@DESKTOP-AOGOC7F:~/dev_ws/src/ros2_21_tutorials# ros2 run zhijiao_robot0802_moveit_cpp_demo moveit_ik_demo
[INFO] [1755228291.660353144] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 1.02404 seconds
[INFO] [1755228291.660437959] [moveit_robot_model.robot_model]: Loading robot model 'zhijiao_robot'...
[INFO] [1755228291.660458754] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[WARN] [1755228291.666113659] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[INFO] [1755228291.681796533] [move_group_interface]: Ready to take commands for planning group manipulator.
[INFO] [1755228291.681837878] [moveit_ik_demo]: End effector link: gripper
[INFO] [1755228291.682709957] [move_group_interface]: Plan and Execute request accepted
[INFO] [1755228324.873389855] [move_group_interface]: Plan and Execute request complete!
[INFO] [1755228325.873665930] [move_group_interface]: MoveGroup action client/server ready
[INFO] [1755228325.874464459] [move_group_interface]: Planning request accepted
[INFO] [1755228331.551459726] [move_group_interface]: Planning request aborted
[ERROR] [1755228331.551841031] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached
[ERROR] [1755228331.552188515] [moveit_ik_demo]: Plan (pose goal) FAILED
[INFO] [1755228331.552770564] [move_group_interface]: Plan and Execute request accepted
[INFO] [1755228364.918952103] [move_group_interface]: Plan and Execute request complete!```
我也怀疑过是未正确加载kinematics.yaml，于是我在demo.launch.py中加上print(moveit_config)，运行信息中打印出了moveit_config信息，其中包含
robot_description_kinematics={'robot_description_kinematics': {'manipulator': {'kinematics_solver': 'kdl_kinematics_plugin/KDLKinematicsPlugin', 'kinematics_solver_search_resolution': 0.005, 'kinematics_solver_timeout': 0.005}}},
各位大神，有没有遇到同样问题的，怎么解决

ROS2机器人开发：从入门到实践
S

b7a9cc31-913a-4bb6-8646-e135e61f2cad-8463f1d1469274cd98c573eb906baea7.png

综合问题
K

想用ros和unity进行仿真，在github上找的项目运行不下去，放假回来电脑崩溃了要重新开始，有没有人可以帮帮我！！可以有偿咨询。

机器人学
C

求救求救，呜呜呜

fishbot_ros2_controller.yaml文件内容：

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 fishbot_effort_controller: type: effort_controllers/JointGroupEffortController fishbot_effort_controller: ros__parameters: joints: - left_wheel_joint - right_wheel_joint command_interfaces: - effort state_interfaces: - position - velocity - effort

gazebo_sim.launch.py文件内容：

import launch import launch_ros from ament_index_python.packages import get_package_share_directory import os def generate_launch_description(): # 获取功能包的share路径 urdf_package_path = get_package_share_directory('fishbot_description') defualt_xacro_path = os.path.join(urdf_package_path, 'urdf', 'fishbot/fishbot.urdf.xacro') defualt_gazebo_world_path = os.path.join(urdf_package_path, 'world', 'custom_room.world') # 声明一个urdf目录的参数，方便修改 action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument( name='model', default_value=str(defualt_xacro_path), description='加载的模型文件路径' ) # 通过文件路径，获取内容，并转换成参数值对象，以供传入 robot_state_publisher substitutions_command_result = launch.substitutions.Command(['xacro ', launch.substitutions.LaunchConfiguration('model')]) robot_description_value = launch_ros.parameter_descriptions.ParameterValue(substitutions_command_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_launch_gazebo = launch.actions.IncludeLaunchDescription( launch.launch_description_sources.PythonLaunchDescriptionSource( [get_package_share_directory('gazebo_ros'),'/launch','/gazebo.launch.py'] ), launch_arguments=[('world',defualt_gazebo_world_path),('verbose','true')] ) action_spawm_entity = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', arguments=['-topic','/robot_description','-entity','fishbot'] ) action_load_joint_state_controller = launch.actions.ExecuteProcess( cmd='ros2 control load_controller fishbot_joint_state_broadcaster --set-state active'.split(' '), output='screen' ) action_load_effort_controller = launch.actions.ExecuteProcess( cmd='ros2 control load_controller fishbot_effort_broadcaster --set-state active'.split(' '), output='screen' ) return launch.LaunchDescription([ action_declare_arg_mode_path, action_robot_state_publisher, action_launch_gazebo, action_spawm_entity, launch.actions.RegisterEventHandler( event_handler=launch.event_handlers.OnProcessExit( target_action=action_spawm_entity, on_exit=[action_load_joint_state_controller], ) ), launch.actions.RegisterEventHandler( event_handler=launch.event_handlers.OnProcessExit( target_action=action_load_joint_state_controller, on_exit=[action_load_effort_controller], ) ), ])

报错内容：

charlie@charlie-VirtualBox:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py [INFO] [launch]: All log files can be found below /home/charlie/.ros/log/2025-08-14-13-26-32-002900-charlie-VirtualBox-14576 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [14582] [INFO] [gzserver-2]: process started with pid [14584] [INFO] [gzclient-3]: process started with pid [14586] [INFO] [spawn_entity.py-4]: process started with pid [14588] [robot_state_publisher-1] [INFO] [1755149192.409618885] [robot_state_publisher]: got segment back_wheel_link [robot_state_publisher-1] [INFO] [1755149192.409707476] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1755149192.409716020] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1755149192.409720830] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1755149192.409725466] [robot_state_publisher]: got segment camera_optical_link [robot_state_publisher-1] [INFO] [1755149192.409730113] [robot_state_publisher]: got segment front_wheel_link [robot_state_publisher-1] [INFO] [1755149192.409734683] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1755149192.409739214] [robot_state_publisher]: got segment laser_cylinder_link [robot_state_publisher-1] [INFO] [1755149192.409743668] [robot_state_publisher]: got segment laser_link [robot_state_publisher-1] [INFO] [1755149192.409748291] [robot_state_publisher]: got segment left_wheel_link [robot_state_publisher-1] [INFO] [1755149192.409752794] [robot_state_publisher]: got segment right_wheel_link [gzclient-3] Gazebo multi-robot simulator, version 11.10.2 [gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation. [gzclient-3] Released under the Apache 2 License. [gzclient-3] http://gazebosim.org [gzclient-3] [gzserver-2] Gazebo multi-robot simulator, version 11.10.2 [gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation. [gzserver-2] Released under the Apache 2 License. [gzserver-2] http://gazebosim.org [gzserver-2] [spawn_entity.py-4] [INFO] [1755149192.721795812] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1755149192.722152998] [spawn_entity]: Loading entity published on topic /robot_description [spawn_entity.py-4] [INFO] [1755149192.723538076] [spawn_entity]: Waiting for entity xml on /robot_description [spawn_entity.py-4] [INFO] [1755149192.737648830] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1755149192.737973586] [spawn_entity]: Waiting for service /spawn_entity [gzserver-2] [Wrn] [gazebo_ros_init.cpp:178] [gzserver-2] # # ####### ####### ### ##### ####### [gzserver-2] ## # # # # # # # # [gzserver-2] # # # # # # # # # [gzserver-2] # # # # # # # # ##### [gzserver-2] # # # # # # # # # [gzserver-2] # ## # # # # # # # [gzserver-2] # # ####### # ### ##### ####### [gzserver-2] [gzserver-2] This version of Gazebo, now called Gazebo classic, reaches end-of-life [gzserver-2] in January 2025. Users are highly encouraged to migrate to the new Gazebo [gzserver-2] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli) [gzserver-2] [gzserver-2] [spawn_entity.py-4] [INFO] [1755149193.630002076] [spawn_entity]: Calling service /spawn_entity [gzclient-3] [Msg] Waiting for master. [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzclient-3] [Msg] Publicized address: 10.0.2.15 [gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in "" [gzserver-2] [Msg] Waiting for master. [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzserver-2] [Msg] Publicized address: 10.0.2.15 [gzserver-2] [Msg] Loading world file [/home/charlie/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world] [gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [gzserver-2] [INFO] [1755149194.040022442] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info] [gzserver-2] [INFO] [1755149194.041348511] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info] [gzserver-2] [INFO] [1755149194.041969718] [depth_camera]: Publishing pointcloud to [/camera_sensor/points] [spawn_entity.py-4] [INFO] [1755149194.167642949] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot] [gzserver-2] [INFO] [1755149194.188820356] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-2] [INFO] [1755149194.196361687] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-2] [INFO] [1755149194.196411774] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-2] [INFO] [1755149194.202945161] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-2] [INFO] [1755149194.204511542] [gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-2] [INFO] [1755149194.204661865] [gazebo_ros2_control]: Loading parameter files /home/charlie/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml [gzserver-2] [INFO] [1755149194.216888925] [gazebo_ros2_control]: Loading joint: left_wheel_joint [gzserver-2] [INFO] [1755149194.216973229] [gazebo_ros2_control]: State: [gzserver-2] [INFO] [1755149194.216996699] [gazebo_ros2_control]: position [gzserver-2] [INFO] [1755149194.217017614] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.217035265] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.217410237] [gazebo_ros2_control]: Command: [gzserver-2] [INFO] [1755149194.217472195] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.217882558] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.217932050] [gazebo_ros2_control]: Loading joint: right_wheel_joint [gzserver-2] [INFO] [1755149194.217953011] [gazebo_ros2_control]: State: [gzserver-2] [INFO] [1755149194.217970816] [gazebo_ros2_control]: position [gzserver-2] [INFO] [1755149194.217992609] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.218018592] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.218073496] [gazebo_ros2_control]: Command: [gzserver-2] [INFO] [1755149194.218104275] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.218310209] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.218444212] [resource_manager]: Initialize hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.218787765] [resource_manager]: Successful initialization of hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219203076] [resource_manager]: 'configure' hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219228919] [resource_manager]: Successful 'configure' of hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219242935] [resource_manager]: 'activate' hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219255560] [resource_manager]: Successful 'activate' of hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219508454] [gazebo_ros2_control]: Loading controller_manager [gzserver-2] [WARN] [1755149194.240378504] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [gzserver-2] [INFO] [1755149194.240584522] [gazebo_ros2_control]: Loaded gazebo_ros2_control. [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 14588] [INFO] [ros2-5]: process started with pid [14745] [gzserver-2] [INFO] [1755149195.120629564] [controller_manager]: Loading controller 'fishbot_joint_state_broadcaster' [gzserver-2] [INFO] [1755149195.145931071] [controller_manager]: Configuring controller 'fishbot_joint_state_broadcaster' [gzserver-2] [INFO] [1755149195.146586668] [fishbot_joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [ros2-5] Successfully loaded controller fishbot_joint_state_broadcaster into state active [gzclient-3] context mismatch in svga_surface_destroy [gzclient-3] context mismatch in svga_surface_destroy [INFO] [ros2-5]: process has finished cleanly [pid 14745] [INFO] [ros2-6]: process started with pid [14781] [gzserver-2] [ERROR] [1755149196.607657076] [controller_manager]: The 'type' param was not defined for 'fishbot_effort_broadcaster'. [ros2-6] Error loading controller, check controller_manager logs [ERROR] [ros2-6]: process has died [pid 14781, exit code 1, cmd 'ros2 control load_controller fishbot_effort_broadcaster --set-state active'].
ROS2机器人开发：从入门到实践
L

e303b6248484e1f5a1c006982b7633b2.png :
ros，docker```
code_text

工具软件
2

wros@wros-VirtualBox:~/chapt2$ make
Consolidate compiler generated dependencies of target ros2_cpp_node
[ 50%] Building CXX object CMakeFiles/ros2_cpp_node.dir/ros2_cpp_node.cpp.o
/home/wros/chapt2/ros2_cpp_node.cpp: In function ‘int main(int, char**)’:
/home/wros/chapt2/ros2_cpp_node.cpp:5:22: error: parse error in template argument list
5 | auto node = std::make_sharedrclcpp:::Node("cpp_node"); //创建节点
| ^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/wros/chapt2/ros2_cpp_node.cpp:5:48: error: no matching function for call to ‘make_shared<<expression error> >(const char [9])’
5 | auto node = std::make_sharedrclcpp:::Node("cpp_node"); //创建节点
| ~^~
In file included from /usr/include/c++/11/memory:77,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153,
from /home/wros/chapt2/ros2_cpp_node.cpp:1:
/usr/include/c++/11/bits/shared_ptr.h:875:5: note: candidate: ‘template<class _Tp, class ... _Args> std::shared_ptr<_Tp> std::make_shared(_Args&& ...)’
875 | make_shared(_Args&&... __args)
| ^
/usr/include/c++/11/bits/shared_ptr.h:875:5: note: template argument deduction/substitution failed:
/home/wros/chapt2/ros2_cpp_node.cpp:5:48: error: template argument 1 is invalid
5 | auto node = std::make_sharedrclcpp:::Node("cpp_node"); //创建节点
| ~^~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/wros/chapt2/ros2_cpp_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:531:81: error: template argument 1 is invalid
531 | ::std::is_same<typename std::remove_cv_t<typename std::remove_reference_t<decltype(logger)>>,
| ^~
/home/wros/chapt2/ros2_cpp_node.cpp:6:5: note: in expansion of macro ‘RCLCPP_INFO’
6 | RCLCPP_INFO(node->get_logger(),"你好，C++节点！"); //打印日志
| ^
/opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:531:97: error: template argument 1 is invalid
531 | ::std::is_same<typename std::remove_cv_t<typename std::remove_reference_t<decltype(logger)>>,
| ^~
/home/wros/chapt2/ros2_cpp_node.cpp:6:5: note: in expansion of macro ‘RCLCPP_INFO’
6 | RCLCPP_INFO(node->get_logger(),"你好，C++节点！"); //打印日志
| ^~~~~
/opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:532:32: error: template argument 1 is invalid
532 | typename ::rclcpp::Logger>::value,
| ^
/home/wros/chapt2/ros2_cpp_node.cpp:6:5: note: in expansion of macro ‘RCLCPP_INFO’
6 | RCLCPP_INFO(node->get_logger(),"你好，C++节点！"); //打印日志
| ^~~~~~~~~~~
make[2]: *** [CMakeFiles/ros2_cpp_node.dir/build.make:76：CMakeFiles/ros2_cpp_node.dir/ros2_cpp_node.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:85：CMakeFiles/ros2_cpp_node.dir/all] 错误 2
make: *** [Makefile:101：all] 错误 2

机器人学
小

系统：20.04，ros：noetic，使用一键安装指令安装rosdepc。
问题：尝试了所有的pip源，在执行sudo pip3 install -i https://mirrors.aliyun.com/pypi/simple rosdepc --break-system-packages失败
QQ图片20250812151116.png
打开终端执行这条指令显示没有--break-system-packages这个参数
QQ图片20250812151301.png

一键安装
2

检测到程序发生异常退出，请打开：https://fishros.org.cn/forum 携带如下内容进行反馈

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 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

一键安装
庶

sudo rosdep init
/usr/bin/rosdep:6: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
from pkg_resources import load_entry_point
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
<urlopen error <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list)>
配置ros源时：小鱼:检测当前系统ubuntu22.04:jammy 支持一键安装ROS
============正在添加ROS源密钥=================
Run CMD Task:[sudo apt update]
[-][11.15s] CMD Result:success

Run CMD Task:[sudo apt search curl ]
[-][0.45s] CMD Result:success

Run CMD Task:[sudo apt install curl -y]
[-][0.33s] CMD Result:success

Run CMD Task:[sudo apt search gnupg2 ]
[-][0.43s] CMD Result:success

Run CMD Task:[sudo apt install gnupg2 -y]
[-][0.31s] CMD Result:success

正在挑选最快的密钥服务:['https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc', 'https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc']

https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc 延时:0.33s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc 超时
已自动选择最快密钥服务:https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc
Run CMD Task:[curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -]
[-][0.38s] CMD Result:success

Run CMD Task:[sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654]
[-][10.07s] CMD Result:code:2

Run CMD Task:[curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo gpg --no-default-keyring --keyring gnupg-ring:/etc/apt/trusted.gpg.d/ros.gpg --import]
[-][0.36s] CMD Result:success

Run CMD Task:[sudo chmod 644 /etc/apt/trusted.gpg.d/ros.gpg]
[-][0.00s] CMD Result:success

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/ros2/ubuntu/']
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][11.62s] CMD Result:success

Run CMD Task:[sudo apt search ros-base ]
[-][0.50s] 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！
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
D

colcon build时find_package(OpenMP REQUIRED)报错，显示为：

CMake Error at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:230 (message):
Could NOT find OpenMP_CXX (missing: OpenMP_CXX_FLAGS OpenMP_CXX_LIB_NAMES)

已经安装了ibomp-dev (1:14.0-55~exp2)，编译器版本是g++ 11.4.0，ROS版本是Humble。

学习资源
H

![rosdepc1](/home/jhr/Pictures/截图/截图 2025-08-09 17-06-24.png)
![rosdepc2](/home/jhr/Pictures/截图/截图 2025-08-09 17-07-06.png)
![carto](/home/jhr/Pictures/截图/截图 2025-08-09 17-04-29.png)

一键安装
3

E: 无法下载 https://mirrors.ustc.edu.cn/ubuntu/pool/universe/f/freeimage/libfreeimage-dev_3.18.0%2Bds2-6ubuntu5.1_amd64.deb 暂时不能解析域名“mirrors.ustc.edu.cn”
E: 无法下载 https://mirrors.ustc.edu.cn/ubuntu/pool/universe/o/ogre-1.9/libogre-1.9-dev_1.9.0%2Bdfsg1-12.1ubuntu1_amd64.deb 暂时不能解析域名“mirrors.ustc.edu.cn”
E: 无法下载 https://mirrors.ustc.edu.cn/ubuntu/pool/universe/libt/libtar/libtar-dev_1.2.20-8ubuntu0.22.04.1_amd64.deb 暂时不能解析域名“mirrors.ustc.edu.cn”

ROS2机器人开发：从入门到实践
D

友友们有使用过第四代控制器版本的睿尔曼机械臂吗，ros1版本控制，在跑官方ros包时出现Rviz中的姿态和真实机械臂姿态不一致的问题，利用rostopic echo /joint_states也没有数据反馈，一直处于待接收状态 ，但是虚拟机和机械臂可以ping通，不知道是什么原因如何解决。

机器人学
H

出错截图如下：
c6020ed3-713f-4843-8847-cfa67fc658dc-5657331a82cd254b005f37e06551d7e.png
编译的时候报错：src/main.cpp:45:5: error: 'set_microros_wifi_transports' was not declared in this scope，set_microros_wifi_transports函数未声明
635071ff-1004-4bda-9349-791640de5ee5-1754583071097.png

FishBot二驱机器人
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
    4.9k
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    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......“

    开发一个上手就用的机器人仿真系统，是我们这个团队的一个愿望。所以，我们就开发了一个叫rabo的系统。
    rabo是一个基于浏览器的机器人sim2real平台，可以理解为浏览器版本的gazebo，我们还额外做了快速部署硬件的功能。
    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，告别虚拟机告别搭环境，直接开工～

    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：
    http://demo.rdtp.rastorigin.tech:20252/display/xFbOBGWmmKJTrNkV

  • 460
    主题
    3.0k
    帖子

    小

    @2595026900 解决了吗，我也是这个问题

  • 针对社区VIP用户问答专区

    68
    主题
    263
    帖子

    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
    主题
    4.3k
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    2

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

  • 综合问题讨论版块 | 版主 @吴凯荣 @小鱼

    1.0k
    主题
    3.7k
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    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

  • 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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    @2475887309 感谢！！！

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