R

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

VIP问答专区
1

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

动手学ROS2
5

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？

Nav2
2

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 #

ROS2机器人开发：从入门到实践
Y

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)
一键安装
2

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

ROS2机器人开发：从入门到实践
U

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

社区运营
2

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

ROS2机器人开发：从入门到实践
Q

使用鱼哥第七章的fishbot_navigation2功能包想做实体小车导航。问题是2D pose estimate后全局代价地图和局部代价地图始终不显示，请鱼哥和各位大佬看看我朝哪个方向排查：

详细描述如下：
1.版本：ROS2 jazzy ubuntu24.04 树莓派5。激光雷达是实体单线雷达 自己搓的麦轮小车，能发布里程计（自己测试还挺准的）
2.使用里程计小车能找到自己的位置，配合雷达能完成家里客厅的简单建图
3.nav2_params.yaml 和 navigation2.launch.py（这个launch里调用了nav2_bringup，传参是map_yaml_path，use_sim_time，和yaml文件路径）是在鱼哥的基础上改的，主要修改的1）use_sim_time: False 2）没有URDF，所以发布了一个 1hz的base_footprint->base_link->laser的TF 3）其他小的参数改动
4.运行navigation2.launch.py后，查看TF都正常，2Dpose estimate后能看到周围有粒子（看样子负责定位的自适应蒙特卡洛粒子滤波起作用了），但是代价地图（全局 局部）都不显示 代价地图模块说no map received
5.显然在代价地图说收不到map的情况下点NAV2 GOAL也是无效的 terminal说 没有设置起始位置（但是其实我设置了）

6 补充：我在目前的基础上丧心病狂的再运行一下ros2 launch nav2_bringup navigation_launch.py 代价地图就有了（代价有点大 我家客厅有点小😕 ），但是NAV2 GOAL还是失败

请各位大佬指点一二，帮我看看我的问题可能在哪：

**问题1 我没有代价地图的问题可能在哪？
初始位置没设置对？（AMCL模块正常，TF显示map->odom）
代价地图的YAML没配置对？（我跑鱼哥的yaml仿真能跑，仅仅改了footprint坐标系和仿真时间）
为什么我运行ros2 launch nav2_bringup navigation_launch.py 能出代价地图？

问题2 我运行ros2 launch nav2_bringup navigation_launch.py 显然是不应该有的做法，让节点重复发布了。这时候不能导航仅仅是因为节点重复发布的原因吗？还是我还有一些别的没做对？**

Screenshot 2025-06-29 121845.png
这是点2d pose estimate后的结果
Screenshot 2025-06-29 134036.png
这是此时的TF
TOPIC_RQT.png
这是此时的节点
状态反馈qt.png
这是小车反馈信息 里程计发布应该都正常（这个图是我后截取的，用遥控器控制小车 确认小车发布的里程计有效）
问题描述.png
这个是再没有代价地图的情况下强行点NAV2GOAL的结果
Screenshot 2025-06-29 143155.png
这个是运行一遍ros2 launch nav2_bringup navigation_launch.py 后的结果，注意此时节点几乎都存在两个同名节点，不知道不能导航是否和同名节点有关，但是起码运行这个显示代价地图了
Screenshot 2025-06-29 143330.png
这个是在运行ros2 launch nav2_bringup navigation_launch.py后有代价地图 点NAV2 goal的结果

下面是我的nav2_params.yaml
amcl:
ros__parameters:
use_sim_time: False
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan

bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: map
robot_base_frame: base_footprint
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_assisted_teleop_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_goal_updated_controller_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_assisted_teleop_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
- nav2_is_battery_charging_condition_bt_node

bt_navigator_navigate_through_poses_rclcpp_node:
ros__parameters:
use_sim_time: False

bt_navigator_navigate_to_pose_rclcpp_node:
ros__parameters:
use_sim_time: False

controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]

# Progress checker parameters progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 0.5 movement_time_allowance: 10.0 # Goal checker parameters #precise_goal_checker: # plugin: "nav2_controller::SimpleGoalChecker" # xy_goal_tolerance: 0.25 # yaw_goal_tolerance: 0.25 # stateful: True general_goal_checker: stateful: True plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 # DWB parameters FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 max_vel_x: 0.26 max_vel_y: 0.0 max_vel_theta: 1.0 min_speed_xy: 0.0 max_speed_xy: 0.26 min_speed_theta: 0.0 # Add high threshold velocity for turtlebot 3 issue. # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 3.2 decel_lim_x: -2.5 decel_lim_y: 0.0 decel_lim_theta: -3.2 vx_samples: 20 vy_samples: 5 vtheta_samples: 20 sim_time: 1.7 linear_granularity: 0.05 angular_granularity: 0.025 transform_tolerance: 0.2 xy_goal_tolerance: 0.25 trans_stopped_velocity: 0.25 short_circuit_trajectory_evaluation: True stateful: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] BaseObstacle.scale: 0.02 PathAlign.scale: 32.0 PathAlign.forward_point_distance: 0.1 GoalAlign.scale: 24.0 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 32.0 GoalDist.scale: 24.0 RotateToGoal.scale: 32.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0

local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
transform_tolerance: 1.0
global_frame: odom
robot_base_frame: base_footprint
use_sim_time: False
rolling_window: true
static_map: true
width: 1
height: 1
resolution: 0.05
robot_radius: 0.22
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.25
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:
map_topic: /map
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
always_send_full_costmap: True

global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
map_topic: /map
global_frame: map
robot_base_frame: base_footprint
use_sim_time: False
robot_radius: 0.12
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:
map_topic: /map
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
track_unknown_space: true
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.25
always_send_full_costmap: True

map_server:
ros__parameters:
use_sim_time: False
topic_name: "map"
# Overridden in launch by the "map" launch configuration or provided default value.
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
yaml_filename: ""

map_saver:
ros__parameters:
use_sim_time: False
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True

planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true

smoother_server:
ros__parameters:
use_sim_time: False
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True

behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
global_frame: odom
robot_base_frame: base_footprint
transform_tolerance: 0.1
use_sim_time: False
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2

robot_state_publisher:
ros__parameters:
use_sim_time: False

waypoint_follower:
ros__parameters:
use_sim_time: False
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200

velocity_smoother:
ros__parameters:
use_sim_time: False
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.26, 0.0, 1.0]
min_velocity: [-0.26, 0.0, -1.0]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odom"
odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0

下面是navigation2.launch.py
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess, TimerAction
from launch.substitutions import LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node

def generate_launch_description():
# 获取包路径
fishbot_navigation2_dir = get_package_share_directory('fishbot_navigation2')
nav2_bringup_dir = get_package_share_directory('nav2_bringup')

# 配置文件路径 map_yaml_path = os.path.join(fishbot_navigation2_dir, 'maps', 'room.yaml') nav2_param_path = os.path.join(fishbot_navigation2_dir, 'config', 'nav2_params.yaml') rviz_config_path = os.path.join(nav2_bringup_dir, 'rviz', 'nav2_default_view.rviz') # Launch参数 use_sim_time = LaunchConfiguration('use_sim_time', default='false') return LaunchDescription([ # 声明参数 DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation time'), DeclareLaunchArgument('map', default_value=map_yaml_path, description='Path to map YAML file'), DeclareLaunchArgument('params_file', default_value=nav2_param_path, description='Path to Nav2 parameters file'), # 关键修改1：使用bringup_launch.py并传递所有必要参数 IncludeLaunchDescription( PythonLaunchDescriptionSource([ nav2_bringup_dir, '/launch/bringup_launch.py' ]), launch_arguments={ 'map': map_yaml_path, # 必须保留地图路径 'use_sim_time': use_sim_time, 'params_file': nav2_param_path, 'autostart': 'true', 'enable_rviz': 'false' }.items(), ), # 关键修改2：简化TF发布节点 Node( package='fishbot_navigation2', executable='tf_publisher_1hz.py', name='tf_publisher_1hz', output='screen', parameters=[{ 'use_sim_time': use_sim_time, 'frame_ids': ['map', 'odom', 'base_link'], 'parent_frames': ['', 'map', 'odom'], 'publish_rate': '10.0' }] ), # 启动RViz2（延迟5秒确保所有节点就绪） TimerAction( period=5.0, actions=[ Node( package='rviz2', executable='rviz2', name='rviz2', arguments=['-d', rviz_config_path], parameters=[{'use_sim_time': use_sim_time}], output='screen' ) ] ) ])

请各位帮忙看看，卡很久了这里 GPT给的方法几乎都试了，无果。

综合问题
charliywhnC

我尝试使用robot_localization库去融合odom和imu的数据，来减少误差，但是这个方法只能用在一个机器人上，多个机器人的时候，分配了命名空间，robot_localization会直接不订阅任何odom和imu数据，不工作了，这种情况有什么办法解决

FishBot二驱机器人
1

听小鱼的视频教程是说要配置dds 外加代码上稍微修改。
而网上其他的一些说法是，ros2 默认就支持了共享内存的方式，而且是根据消息的大小来自行决定的。
这两个说法到底哪个是对的？

ROS2机器人开发：从入门到实践
G

由于我的虚拟机没有代理，不好使用

vcs import < moveit2_tutorials/moveit2_tutorials.repos

所以，我在另外一个双系统的有代理的linux下运行后，拷贝过来，编译发现了如下问题

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release Starting >>> moveit_resources_panda_description Starting >>> moveit_common Finished <<< moveit_common [0.77s] Starting >>> moveit_resources_pr2_description Finished <<< moveit_resources_panda_description [1.26s] Starting >>> srdfdom Finished <<< moveit_resources_pr2_description [1.10s] Starting >>> moveit_resources_panda_moveit_config Finished <<< moveit_resources_panda_moveit_config [0.93s] Starting >>> launch_param_builder Finished <<< launch_param_builder [1.59s] Starting >>> moveit_resources_fanuc_description Finished <<< moveit_resources_fanuc_description [1.64s] Starting >>> moveit_resources_fanuc_moveit_config Finished <<< moveit_resources_fanuc_moveit_config [1.57s] Starting >>> moveit_resources_prbt_support Finished <<< moveit_resources_prbt_support [1.58s] Starting >>> moveit_task_constructor_msgs Finished <<< srdfdom [23.4s] Starting >>> moveit_core [Processing: moveit_core, moveit_task_constructor_msgs] Finished <<< moveit_task_constructor_msgs [52.4s] Starting >>> moveit_configs_utils Finished <<< moveit_configs_utils [1.16s] Starting >>> rviz_marker_tools Finished <<< rviz_marker_tools [11.4s] Starting >>> rosparam_shortcuts --- stderr: rosparam_shortcuts CMake Error at CMakeLists.txt:97 (find_package): By not providing "Findros_testing.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "ros_testing", but CMake did not find one. Could not find a package configuration file provided by "ros_testing" with any of the following names: ros_testingConfig.cmake ros_testing-config.cmake Add the installation prefix of "ros_testing" to CMAKE_PREFIX_PATH or set "ros_testing_DIR" to a directory containing one of the above files. If "ros_testing" provides a separate development package or SDK, be sure it has been installed. --- Failed <<< rosparam_shortcuts [1.89s, exited with code 1] Aborted <<< moveit_core [7min 52s] Summary: 12 packages finished [8min 17s] 1 package failed: rosparam_shortcuts 1 package aborted: moveit_core 1 package had stderr output: rosparam_shortcuts 41 packages not processed

请问大家有什么好办法解决吗？

机械臂运动规划
9

5a461d09-758f-446d-ba16-f5fcb098bce7-image.png
系统
Ubuntu22.04
使用的是小鱼的一键配置docker环境
ROS版本
humble

跟着小鱼教学视频做的第六章的小车，camera、laser、IMU在rivz里显示的xyz偏移和设置的不一样，但是点开显示他们的惯性和质量却都是正确的。图里可见红色的惯性方块，是正确的，但是黑色实体的却飞出去了。

<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" > <xacro:include filename="$(find fishbot_description)/urdf/fishbot/common_inertia.xacro"/> <!--机器人身体部分--> <xacro:macro name = "camera_xacro" params="xyz"> <link name="camera_link"> <!--部件外观描述--> <visual> <!--偏移和旋转--> <origin xyz="${xyz}" rpy="0.0 0.0 0.0"/> <!--形状--> <geometry> <box size="0.02 0.1 0.02"/> </geometry> <!--颜色--> <material name = "black"> <color rgba="0 0 0 0.5"/> </material> </visual> <collision> <origin xyz="${xyz}" rpy="0.0 0.0 0.0"/> <!--形状--> <geometry> <box size="0.02 0.1 0.02"/> </geometry> <!--颜色--> <material name = "black"> <color rgba="0 0 0 0.5"/> </material> </collision> <xacro:box_inertia m="0.1" w="0.02" h="0.1" d="0.02"/> </link> <joint name="camera_joint" type="fixed"> <origin xyz="${xyz}" rpy="0.0 0.0 0.0"/> <parent link="base_link"/> <child link="camera_link"/> </joint> </xacro:macro> </robot>
综合问题
2

Ubuntu24.04安装gazebo11报错，not found
屏幕截图 2025-06-26 131548.png

动手学ROS2
L

[gazebo-2] [INFO] [1750837900.118069351] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
[gazebo-2] [INFO] [1750837900.118141039] [controller_manager]: Loading controller 'joint_state_broadcaster'
[gazebo-2] [INFO] [1750837900.122911144] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file -p use_sim_time:=true --param use_sim_time:=true
[gazebo-2] [ERROR] [1750837900.123114534] [controller_manager]: Caught exception of type : N6rclcpp10exceptions22RCLInvalidROSArgsErrorE while initializing controller 'joint_state_broadcaster': failed to parse arguments: Couldn't parse params file: '--params-file -p'. Error: Error opening YAML file, at ./src/parser.c:271, at ./src/rcl/arguments.c:415
[spawner-5] [FATAL] [1750837900.144238134] [spawner_joint_state_broadcaster]: Failed loading controller joint_state_broadcaster
yaml文件路径没有问题 yaml文件本身也没有问题 controller_manager服务可以正常启动。但是每次加载控制器都会出现这个问题。

ROS2机器人开发：从入门到实践
2

e731bd1d-c00e-43a6-9d07-1336e7a9928f-29b88290-3331-4b61-9823-79dd85d62759.png

VIP问答专区
3

电脑是ARM架构，win11，使用了清华源。在wsl里进行一键安装，ros2humble失败，请问怎么样解决啊

--2025-06-25 10:22:23-- http://fishros.com/install Resolving fishros.com (fishros.com)... 47.119.165.169 Connecting to fishros.com (fishros.com)|47.119.165.169|:80... connected. HTTP request sent, awaiting response... 301 Moved Permanently Location: http://fishros.com/install/ [following] --2025-06-25 10:22:23-- http://fishros.com/install/ Reusing existing connection to fishros.com:80. HTTP request sent, awaiting response... 200 OK Length: 960 [application/octet-stream] Saving to: ‘fishros’ fishros 100%[=================================================>] 960 --.-KB/s in 0s 2025-06-25 10:22:23 (47.9 MB/s) - ‘fishros’ saved [960/960] Reading package lists... Done Building dependency tree... Done Reading state information... Done python3-distro is already the newest version (1.7.0-1). python3-yaml is already the newest version (5.4.1-1ubuntu1). The following packages were automatically installed and are no longer required: acl adwaita-icon-theme alsa-topology-conf alsa-ucm-conf at-spi2-core cpu-checker dconf-gsettings-backend dconf-service fontconfig glib-networking glib-networking-common glib-networking-services gsettings-desktop-schemas gstreamer1.0-plugins-base gstreamer1.0-x gtk-update-icon-cache hicolor-icon-theme humanity-icon-theme ibverbs-providers ipxe-qemu ipxe-qemu-256k-compat-efi-roms libaa1 libaio1 libasound2 libasound2-data libasyncns0 libatk-bridge2.0-0 libatk1.0-0 libatk1.0-data libatspi2.0-0 libavahi-client3 libavahi-common-data libavahi-common3 libavc1394-0 libboost-iostreams1.74.0 libboost-thread1.74.0 libbrlapi0.8 libcaca0 libcacard0 libcairo-gobject2 libcairo2 libcdparanoia0 libcolord2 libcups2 libdatrie1 libdaxctl1 libdconf1 libdecor-0-0 libdecor-0-plugin-1-cairo libdv4 libepoxy0 libfdt1 libflac8 libgbm1 libgdk-pixbuf-2.0-0 libgdk-pixbuf2.0-bin libgdk-pixbuf2.0-common libgfapi0 libgfrpc0 libgfxdr0 libglusterfs0 libgraphite2-3 libgstreamer-plugins-base1.0-0 libgstreamer-plugins-good1.0-0 libgtk-3-0 libgtk-3-bin libgtk-3-common libgudev-1.0-0 libharfbuzz0b libibverbs1 libiec61883-0 libiscsi7 libjack-jackd2-0 liblcms2-2 libmp3lame0 libmpg123-0 libndctl6 libnl-route-3-200 libnspr4 libnss3 libogg0 libopus0 liborc-0.4-0 libpango-1.0-0 libpangocairo-1.0-0 libpangoft2-1.0-0 libpcsclite1 libpixman-1-0 libpmem1 libpmemobj1 libproxy1v5 libpulse0 librados2 libraw1394-11 librbd1 librdmacm1 librsvg2-2 librsvg2-common libsamplerate0 libsdl2-2.0-0 libshout3 libslirp0 libsndfile1 libspeex1 libspice-server1 libtag1v5 libtag1v5-vanilla libthai-data libthai0 libtheora0 libtwolame0 libusbredirparser1 libv4l-0 libv4lconvert0 libvirglrenderer1 libvisual-0.4-0 libvorbis0a libvorbisenc2 libvpx7 libvte-2.91-0 libvte-2.91-common libwavpack1 libwayland-client0 libwayland-cursor0 libwayland-egl1 libwayland-server0 libxcb-render0 libxcursor1 libxdamage1 libxkbcommon0 ovmf seabios session-migration ubuntu-mono Use 'sudo apt autoremove' to remove them. 0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded. --2025-06-25 10:22:25-- http://mirror.fishros.com/install/tools/base.py Resolving mirror.fishros.com (mirror.fishros.com)... 47.119.165.169 Connecting to mirror.fishros.com (mirror.fishros.com)|47.119.165.169|:80... connected. HTTP request sent, awaiting response... 200 OK Length: 51510 (50K) [application/octet-stream] Saving to: ‘/tmp/fishinstall//tools/base.py’ /tmp/fishinstall//tools/base. 100%[=================================================>] 50.30K --.-KB/s in 0.1s 2025-06-25 10:22:25 (398 KB/s) - ‘/tmp/fishinstall//tools/base.py’ saved [51510/51510] Run CMD Task:[dpkg --print-architecture] [-][0.00s] CMD Result:success Run CMD Task:[wget http://mirror.fishros.com/install/tools/translation/translator.py -O /tmp/fishinstall//tools/translation/translator.py --no-check-certificate] [-][0.38s] CMD Result:success Run CMD Task:[wget http://mirror.fishros.com/install/tools/translation/assets/zh_CN.py -O /tmp/fishinstall//tools/translation/assets/zh_CN.py --no-check-certificate] [-][0.19s] CMD Result:success Run CMD Task:[wget http://mirror.fishros.com/install/tools/translation/assets/en_US.py -O /tmp/fishinstall//tools/translation/assets/en_US.py --no-check-certificate] [-][0.20s] CMD Result:success Run CMD Task:[wget https://fishros.org.cn/forum/topic/1733 -O /tmp/t1733 -q --timeout 10 && rm -rf /tmp/t1733] [-][0.80s] CMD Result:success 已为您切换语言至当前所在国家语言:zh_CN 基础检查通过... =============================================================================== ======欢迎使用一键安装工具，人生苦短，三省吾身，省时省力省心!======= ======一键安装已开源，请放心使用：https://github.com/fishros/install ======= =============================================================================== .-~~~~~~~~~-._ _.-~~~~~~~~~-. __.' ~. .~ `.__ .'// 开卷有益 \./ 书山有路 \ `. .'// 可以多看看小鱼的文章 | 关注B站鱼香ROS机器人 \ `. .'// .-~~~~~~~~~~~~~~-._ | _,-~~~~~~~~~~~. \`. .'//.-" `-. | .-' "-.\`. .'//______.============-.. \ | / ..-============.______\`. .'______________________________\|/______________________________` ---------------------------------------------------------------------- RUN Choose Task:[请输入括号内的数字] ---众多工具，等君来用--- ROS相关: [1]:一键安装(推荐):ROS(支持ROS/ROS2,树莓派Jetson) [3]:一键安装:rosdep(小鱼的rosdepc,又快又好用) [4]:一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择) [9]:一键安装:Cartographer(18 20测试通过,16未测. updateTime 20240125) [11]:一键安装:ROS Docker版(支持所有版本ROS/ROS2) [16]:一键安装：系统自带ROS (！！警告！！仅供特殊情况下使用) 常用软件: [2]:一键安装:github桌面版(小鱼常用的github客户端) [6]:一键安装:NodeJS环境 [7]:一键安装:VsCode开发工具 [8]:一键安装:Docker [10]:一键安装:微信(可以在Linux上使用的微信) [12]:一键安装:PlateformIO MicroROS开发环境(支持Fishbot) [15]:一键安装：QQ for Linux 配置工具: [5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统) [13]:一键配置:python国内源 [17]:一键配置: Docker代理(支持VPN+代理服务两种模式) [0]:quit 请输入[]内的数字以选择:1 Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_install_ros.py -O /tmp/fishinstall/tools/tool_install_ros.py --no-check-certificate] [-][0.37s] CMD Result:success Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_config_rosenv.py -O /tmp/fishinstall/tools/tool_config_rosenv.py --no-check-certificate] [-][0.21s] CMD Result:success Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_config_system_source.py -O /tmp/fishinstall/tools/tool_config_system_source.py --no-check-certificate] [-][0.16s] CMD Result:success 欢迎使用一键安装ROS和ROS2,支持树莓派Jetson,本工具由作者小鱼提供 欢迎使用ROS开箱子工具，本工具由[鱼香ROS]小鱼贡献.. 小鱼:检测当前系统ubuntu22.04:jammy 支持一键安装ROS =========接下来这一步很很很很重要，如果不知道怎么选请选择1======== RUN Choose Task:[请输入括号内的数字] 新手或首次安装一定要一定要一定要换源并清理三方源，换源!!!系统默认国外源容易失败!! [1]:更换系统源再继续安装 [2]:不更换继续安装 [0]:quit 请输入[]内的数字以选择:2 ============正在添加ROS源密钥================= Run CMD Task:[sudo apt update] [-][12.17s] Get:28 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports noble-updates/restricted arm64 c-n-f Metadata [440 [-][13.08s] Get:32 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports noble-updates/universe arm64 c-n-f Metadata [25.4 k[-][13.17s] Get:36 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports noble-updates/multiverse arm64 c-n-f Metadata [408 [/][13.21s] Get:41 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports noble-backports/restricted arm64 c-n-f Metadata [11[/][13.37s] Get:45 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports noble-backports/universe arm64 c-n-f Metadata [1300[\][13.37s] Get:46 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports noble-backports/multiverse arm64 c-n-f Metadata [11[-][38.42s] Cannot initiate the connection to ports.ubuntu.com:80 (2620:2d:4000:1::19). - connect (101: Network is unreachable) Cannot initiate the connection to ports.ubuntu.com:80 (2620:2d:4000:1::16). - connect (101: Network is unreachable) Cannot initiate the connection to ports.ubuntu.com:80 (2620:2d:4002:1::10a). - connect (101: Network is unreachable) Cannot initiate the connection to ports.ubuntu.com:80 (2620:2d:4002:1::10c). - connect (101: Network is unreachable) Cannot initiate the connection to ports.ubuntu.com:80 (2620:2d:4002:1::10b). - connect (101: Network is unreachable) Could not connect to ports.ubuntu.com:80 (91.189.91.104), connection timed out Could not connect to ports.ubuntu.com:80 (91.189.91.102), connection timed out Could not connect to ports.ubuntu.com:80 (185.125.190.39), connection timed out Could not connect to ports.ubuntu.com:80 (91.189.91.103), connection timed out Could not connect to ports.ubuntu.com:80 (185.[/][38.42s] Cannot initiate the connection to ports.ubuntu.com:80 (2620:2d:4000:1::19). - connect (101: Network is unreachable) Cannot initiate the connection to ports.ubuntu.com:80 (2620:2d:4000:1::16). - connect (101: Network is unreachable) Cannot initiate the connection to ports.ubuntu.com:80 (2620:2d:4002:1::10a). - connect (101: Network is unreachable) Cannot initiate the connection to ports.ubuntu.com:80 (2620:2d:4002:1::10c). - connect (101: Network is unreachable) Cannot initiate the connection to ports.ubuntu.com:80 (2620:2d:4002:1::10b). - connect (101: Network is unreachable) Could not connect to ports.ubuntu.com:80 (91.189.91.104), connection timed out Could not connect to ports.ubuntu.com:80 (91.189.91.102), connection timed out Could not connect to ports.ubuntu.com:80 (185.125.190.39), connection timed out Could not connect to ports.ubuntu.com:80 (91.189.91.103), connection timed out Could not connect to ports.ubuntu.com:80 (185.[-][38.60s] CMD Result:code:100 apt更新失败,后续程序可能会继续尝试...,[] Run CMD Task:[sudo apt search curl ] [-][0.12s] This package retrieves data from url-format files such as http://, ftp://, package:// file://, etc., and lo[-][0.12s] This package retrieves data from url-format files such as http://, ftp://, package:// file://, etc., and lo[-][0.12s] This package retrieves data from url-format files such as http://, ftp://, package:// file://, etc., and lo[-][0.12s] CMD Result:success Run CMD Task:[sudo apt install curl -y] [-][0.18s] CMD Result:success Run CMD Task:[sudo apt search gnupg2 ] [-][0.11s] CMD Result:success 没有找到包：gnupg2 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:0.55s - 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 -] [-][0.66s] CMD Result:success Run CMD Task:[sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654] 没有找到包：aptitude Run CMD Task:[sudo apt install ros-humble-desktop -y] Reading package lists... Done Building dependency tree... Done Reading state information... Done Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation: The following packages have unmet dependencies: python3-catkin-pkg-modules : Depends: python3-dateutil but it is not installable Depends: python3-docutils but it is not installable ros-humble-action-tutorials-cpp : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable ros-humble-ament-cmake : Depends: cmake but it is not installable ros-humble-ament-cmake-core : Depends: cmake but it is not installable Depends: ros-humble-ament-package but it is not going to be installed ros-humble-ament-cmake-gmock : Depends: google-mock but it is not installable ros-humble-ament-cmake-gtest : Depends: libgtest-dev but it is not installable ros-humble-ament-cmake-pytest : Depends: python3-pytest but it is not installable ros-humble-ament-cppcheck : Depends: cppcheck but it is not installable ros-humble-ament-flake8 : Depends: python3-flake8 but it is not installable ros-humble-ament-pep257 : Depends: pydocstyle but it is not installable ros-humble-ament-xmllint : Depends: libxml2-utils but it is not installable ros-humble-class-loader : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: libconsole-bridge-dev but it is not installable Depends: ros-humble-console-bridge-vendor but it is not going to be installed ros-humble-composition : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable ros-humble-demo-nodes-cpp : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable ros-humble-demo-nodes-cpp-native : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: ros-humble-fastrtps but it is not installable Depends: ros-humble-rmw-fastrtps-cpp but it is not installable ros-humble-depthimage-to-laserscan : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: libopencv-core4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-flann4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-dev but it is not installable Depends: ros-humble-image-geometry but it is not going to be installed ros-humble-examples-rclcpp-minimal-composition : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable ros-humble-examples-rclcpp-minimal-subscriber : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable ros-humble-image-tools : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: libopencv-core4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-highgui4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-imgcodecs4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-imgproc4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-videoio4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-dev but it is not installable ros-humble-intra-process-demo : Depends: libopencv-core4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-highgui4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-imgproc4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-videoio4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-dev but it is not installable ros-humble-joy : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: ros-humble-sdl2-vendor but it is not going to be installed ros-humble-kdl-parser : Depends: liborocos-kdl1.5 (>= 1.5.1) but it is not installable ros-humble-launch : Depends: python3-lark but it is not installable ros-humble-launch-testing : Depends: python3-pytest but it is not installable ros-humble-logging-demo : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable ros-humble-orocos-kdl-vendor : Depends: libeigen3-dev but it is not installable Depends: liborocos-kdl-dev but it is not installable ros-humble-pcl-conversions : Depends: libeigen3-dev but it is not installable Depends: libpcl-common1.12 but it is not installable Depends: libpcl-dev but it is not installable Depends: libpcl-io1.12 but it is not installable ros-humble-python-cmake-module : Depends: python3-dev but it is not installable ros-humble-python-orocos-kdl-vendor : Depends: python3-pykdl but it is not installable Depends: ros-humble-pybind11-vendor but it is not going to be installed ros-humble-python-qt-binding : Depends: libpyside2-dev but it is not installable Depends: libshiboken2-dev but it is not installable Depends: pyqt5-dev but it is not installable Depends: python3-pyqt5 but it is not installable Depends: python3-pyqt5.qtsvg but it is not installable Depends: python3-pyside2.qtsvg but it is not installable Depends: python3-sip-dev but it is not installable Depends: shiboken2 but it is not installable ros-humble-qt-dotgraph : Depends: python3-pydot but it is not installable ros-humble-quality-of-service-demo-cpp : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable ros-humble-rcl-logging-spdlog : Depends: libspdlog1-fmt8 but it is not installable Depends: libspdlog-dev but it is not installable Depends: ros-humble-spdlog-vendor but it is not going to be installed ros-humble-rcl-yaml-param-parser : Depends: libyaml-dev but it is not installable ros-humble-rclcpp-components : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable ros-humble-robot-state-publisher : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: liborocos-kdl1.5 (>= 1.5.1) but it is not installable ros-humble-ros2cli : Depends: python3-argcomplete but it is not installable Depends: python3-packaging but it is not installable ros-humble-ros2doctor : Depends: python3-psutil but it is not installable Depends: python3-rosdistro-modules but it is not going to be installed ros-humble-ros2pkg : Depends: python3-empy but it is not installable ros-humble-ros2topic : Depends: python3-numpy but it is not installable ros-humble-rosbag2-compression : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: libtinyxml2-9 (>= 8.0.0) but it is not installable ros-humble-rosbag2-compression-zstd : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: ros-humble-zstd-vendor but it is not going to be installed ros-humble-rosbag2-cpp : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: libtinyxml2-9 (>= 8.0.0) but it is not installable ros-humble-rosbag2-py : Depends: libtinyxml2-9 (>= 8.0.0) but it is not installable Depends: libyaml-cpp0.7 (>= 0.7.0) but it is not installable Depends: ros-humble-pybind11-vendor but it is not going to be installed ros-humble-rosbag2-storage : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: libtinyxml2-9 (>= 8.0.0) but it is not installable Depends: libyaml-cpp0.7 (>= 0.7.0) but it is not installable Depends: ros-humble-yaml-cpp-vendor but it is not going to be installed ros-humble-rosbag2-storage-default-plugins : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: libyaml-cpp0.7 (>= 0.7.0) but it is not installable Depends: ros-humble-yaml-cpp-vendor but it is not going to be installed ros-humble-rosbag2-transport : Depends: libyaml-cpp0.7 (>= 0.7.0) but it is not installable Depends: ros-humble-yaml-cpp-vendor but it is not going to be installed ros-humble-rosidl-cmake : Depends: python3-empy but it is not installable Depends: ros-humble-rosidl-adapter but it is not going to be installed Depends: ros-humble-rosidl-parser but it is not going to be installed ros-humble-rosidl-generator-c : Depends: python3-dev but it is not installable Depends: ros-humble-rosidl-cli but it is not going to be installed Depends: ros-humble-rosidl-parser but it is not going to be installed ros-humble-rosidl-generator-cpp : Depends: python3-dev but it is not installable Depends: ros-humble-rosidl-cli but it is not going to be installed Depends: ros-humble-rosidl-parser but it is not going to be installed ros-humble-rosidl-generator-py : Depends: python3-numpy but it is not installable Depends: ros-humble-rosidl-cli but it is not going to be installed Depends: ros-humble-rosidl-parser but it is not going to be installed ros-humble-rosidl-runtime-py : Depends: python3-numpy but it is not installable Depends: ros-humble-rosidl-parser but it is not going to be installed ros-humble-rosidl-typesupport-c : Depends: python3-dev but it is not installable Depends: ros-humble-rosidl-cli but it is not going to be installed ros-humble-rosidl-typesupport-cpp : Depends: python3-dev but it is not installable Depends: ros-humble-rosidl-cli but it is not going to be installed ros-humble-rosidl-typesupport-fastrtps-c : Depends: python3-dev but it is not installable Depends: ros-humble-rosidl-cli but it is not going to be installed ros-humble-rosidl-typesupport-fastrtps-cpp : Depends: python3-dev but it is not installable Depends: ros-humble-rosidl-cli but it is not going to be installed ros-humble-rosidl-typesupport-introspection-c : Depends: python3-dev but it is not installable Depends: ros-humble-rosidl-cli but it is not going to be installed Depends: ros-humble-rosidl-parser but it is not going to be installed ros-humble-rosidl-typesupport-introspection-cpp : Depends: python3-dev but it is not installable Depends: ros-humble-rosidl-cli but it is not going to be installed Depends: ros-humble-rosidl-parser but it is not going to be installed ros-humble-rqt-bag-plugins : Depends: python3-cairo but it is not installable Depends: python3-pil but it is not installable ros-humble-rqt-image-view : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: libopencv-core4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libopencv-imgproc4.5d (>= 4.5.4+dfsg) but it is not installable Depends: libqt5core5a (>= 5.15.1) but it is not installable Depends: libqt5gui5 (>= 5.14.1) but it is not installable or libqt5gui5-gles (>= 5.14.1) but it is not installable Depends: libqt5widgets5 (>= 5.0.2) but it is not installable Depends: ros-humble-cv-bridge but it is not going to be installed Depends: ros-humble-image-transport but it is not going to be installed Depends: ros-humble-qt-gui-cpp but it is not going to be installed Depends: ros-humble-rqt-gui-cpp but it is not going to be installed ros-humble-rqt-plot : Depends: python3-matplotlib but it is not installable Depends: python3-numpy but it is not installable ros-humble-rqt-py-common : Depends: qtbase5-dev but it is not installable ros-humble-rviz-default-plugins : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: liborocos-kdl1.5 (>= 1.5.1) but it is not installable Depends: libqt5core5a (>= 5.14.1) but it is not installable Depends: libqt5gui5 (>= 5.2.0) but it is not installable or libqt5gui5-gles (>= 5.2.0) but it is not installable Depends: libqt5widgets5 (>= 5.0.2) but it is not installable Depends: libtinyxml2-9 (>= 8.0.0) but it is not installable Depends: ros-humble-rviz-ogre-vendor but it is not going to be installed Depends: libqt5gui5 but it is not installable Depends: libqt5opengl5 but it is not installable Depends: ros-humble-ignition-math6-vendor but it is not going to be installed Depends: ros-humble-image-transport but it is not going to be installed Depends: ros-humble-interactive-markers but it is not going to be installed Depends: ros-humble-laser-geometry but it is not going to be installed Depends: ros-humble-resource-retriever but it is not going to be installed Depends: ros-humble-rviz-common but it is not going to be installed Depends: ros-humble-rviz-rendering but it is not going to be installed ros-humble-rviz2 : Depends: libqt5widgets5 (>= 5.0.2) but it is not installable Depends: ros-humble-rviz-common but it is not going to be installed Depends: ros-humble-rviz-ogre-vendor but it is not going to be installed ros-humble-sqlite3-vendor : Depends: libsqlite3-dev but it is not installable ros-humble-sros2 : Depends: python3-lxml but it is not installable ros-humble-tango-icons-vendor : Depends: tango-icon-theme but it is not installable ros-humble-teleop-twist-joy : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable ros-humble-tf2 : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: libconsole-bridge-dev but it is not installable Depends: ros-humble-console-bridge-vendor but it is not going to be installed ros-humble-tf2-bullet : Depends: libbullet-dev but it is not installable ros-humble-tf2-eigen : Depends: libeigen3-dev but it is not installable ros-humble-tf2-eigen-kdl : Depends: liborocos-kdl1.5 (>= 1.5.1) but it is not installable Depends: libeigen3-dev but it is not installable ros-humble-tf2-geometry-msgs : Depends: python3-numpy but it is not installable ros-humble-tf2-ros : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable ros-humble-tf2-sensor-msgs : Depends: libeigen3-dev but it is not installable Depends: python3-numpy but it is not installable Depends: ros-humble-sensor-msgs-py but it is not going to be installed ros-humble-tf2-tools : Depends: graphviz but it is not installable ros-humble-tinyxml2-vendor : Depends: libtinyxml2-dev but it is not installable ros-humble-turtlesim : Depends: libqt5core5a (>= 5.0.2) but it is not installable Depends: libqt5gui5 (>= 5.2.0) but it is not installable or libqt5gui5-gles (>= 5.2.0) but it is not installable Depends: libqt5widgets5 (>= 5.0.2) but it is not installable Depends: libqt5gui5 but it is not installable ros-humble-uncrustify-vendor : Depends: uncrustify but it is not installable ros-humble-urdf : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installable Depends: libtinyxml2-9 (>= 8.0.0) but it is not installable Depends: ros-humble-urdfdom 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-humble-desktop -y] [|][0.02s] ros-humble-depthimage-to-laserscan : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installabl[-][0.02s] ros-humble-examples-rclcpp-minimal-composition : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is no[/][0.02s] ros-humble-examples-rclcpp-minimal-subscriber : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not[-][0.02s] Depends: ros-humble-pybind11-vendor but it is not going to be installe[\][0.02s] ros-humble-quality-of-service-demo-cpp : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not instal[\][0.02s] ros-humble-rosbag2-compression-zstd : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not installab[/][0.02s] ros-humble-rosbag2-storage-default-plugins : Depends: libconsole-bridge1.0 (>= 1.0.1+dfsg2) but it is not in[|][0.02s] Depends: ros-humble-yaml-cpp-vendor but it is not going to be i[/][0.03s] Depends: ros-humble-rosidl-cli but it is not going to be installe[|][0.03s] Depends: ros-humble-rosidl-cli but it is not going to be instal[/][0.03s] Depends: ros-humble-rosidl-cli but it is not going to be ins[\][0.03s] Depends: ros-humble-rosidl-parser but it is not going to be [-][0.03s] Depends: ros-humble-rosidl-cli but it is not going to be i[/][0.03s] Depends: ros-humble-rosidl-parser but it is not going to b[-][0.03s] Depends: ros-humble-ignition-math6-vendor but it is not going to be instal[\][0.03s] Depends: ros-humble-interactive-markers but it is not going to be installe[-][0.03s] CMD Result:code:100 lled ============================================================ 请注意我，检测你在安装过程中出现依赖问题，请在稍后输入n,再选择y,即可解决（若无法解决，清在稍后手动运行命令: sudo aptitude install ros-humble-desktop) 确认了解情况，请输入回车继续安装 Run CMD Task:[sudo aptitude install ros-humble-desktop] sudo: aptitude: command not found Run CMD Task:[sudo aptitude install ros-humble-desktop -y] [-][0.00s] CMD Result:code:1 Run CMD Task:[sudo apt search python3-colcon-common-extensions ] [-][0.06s] CMD Result:success Run CMD Task:[sudo apt install python3-colcon-common-extensions -y] [-][0.04s] CMD Result:code:100 Run CMD Task:[sudo apt search python3-argcomplete ] [-][0.05s] CMD Result:success 没有找到包：python3-argcomplete Run CMD Task:[sudo apt search python3-rosdep ] [-][0.11s] CMD Result:success Run CMD Task:[sudo apt install python3-rosdep -y] [-][0.08s] CMD Result:code:100 Run CMD Task:[ls /opt/ros/humble/setup.bash] [-][0.03s] CMD Result:code:2 安装失败了,请打开鱼香社区：https://fishros.org.cn/forum 在一键安装专区反馈问题... Run CMD Task:[ls /opt/ros/humble/setup.bash] [-][0.00s] CMD Result:code:2 欢迎加入机器人学习交流QQ群：438144612(入群口令：一键安装) 鱼香小铺正式开业，最低499可入手一台能建图会导航的移动机器人，淘宝搜店：鱼香ROS 或打开链接查看：https://item.taobao.com/item.htm?id=696573635888 如在使用过程中遇到问题，请打开：https://fishros.org.cn/forum 进行反馈 检测到本次运行出现失败命令,直接退出按Ctrl+C,按任意键上传日志并退出
一键安装
2

5282c2a0-bfa1-44bd-b141-56a966ef7229-27499a63-d9a5-4ef6-9fb2-33fd890addce.png

VIP问答专区
火

截图 2025-06-24 11-42-02.png

仿真
S

报错信息：[ros2_control_node-6] [INFO] [1750770401.570871549] [resource_manager]: Loading hardware 'GazeboSystem'
[ros2_control_node-6] terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
[ros2_control_node-6] what(): According to the loaded plugin descriptions the class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are fake_components/GenericSystem mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem
我的相关包版本：
ros-humble-ros2-control is already the newest version (2.51.0-1jammy.20250617.234359)；
ros-humble-ros2-controllers is already the newest version (2.47.0-1jammy.20250618.000355);
ros-humble-gazebo-ros2-control is already the newest version (0.4.10-1jammy.20250617.235819);
ros-humble-gazebo-ros-pkgs is already the newest version (3.9.0-1jammy.20250618.001012);
在/opt/ros/humble/share/gazebo_ros2_control/gazebo_hardware_plugins.xml描述性文件下，其定义的基类是gazebo_ros2_control::GazeboSystemInterface，而非系统提示的hardware_interface::SystemInterface，请问该如何解决？
我的ros2_control.xacro配置如下：
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
<param name="robot_sim_type">gazebo_ros2_control/GazeboSystem</param>
</hardware>
...
<gazebo>
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
<parameters>$(find robot_description)/config/swhbot_ros2_controllers.yaml</parameters>
<robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
<robot_param>/robot_description</robot_param>
</plugin>
</gazebo>

综合问题
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版块

  • 社区运营&开源工具

    学习资源 社区运营 一键安装 FishROS2GO
    1.3k
    主题
    4.8k
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    1

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

  • 444
    主题
    2.9k
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    2

    @ros2_fresh 会有眼睛鼻子嘴巴的点显示出来

  • 针对社区VIP用户问答专区

    64
    主题
    255
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    R

    -- Copyright 2016 The Cartographer Authors -- Licensed under the Apache License, Version 2.0 (the "License");
    -- you may not use this file except in compliance with the License.
    -- You may obtain a copy of the License at -- http://www.apache.org/licenses/LICENSE-2.0

    -- Unless required by applicable law or agreed to in writing, software
    -- distributed under the License is distributed on an "AS IS" BASIS,
    -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    -- See the License for the specific language governing permissions and
    -- limitations under the License.

    include "map_builder.lua"
    include "trajectory_builder.lua"

    options = {
    map_builder = MAP_BUILDER,
    trajectory_builder = TRAJECTORY_BUILDER,
    map_frame = "map",
    tracking_frame = "livox_frame",
    published_frame = "base_link",
    odom_frame = "odom",
    provide_odom_frame = false,
    publish_frame_projected_to_2d = false,
    use_odometry = false,
    use_nav_sat = false,
    use_landmarks = false,
    num_laser_scans = 0,
    num_multi_echo_laser_scans = 0,
    num_subdivisions_per_laser_scan = 1,
    num_point_clouds = 1,
    lookup_transform_timeout_sec = 0.2,
    submap_publish_period_sec = 0.3,
    pose_publish_period_sec = 5e-3,
    trajectory_publish_period_sec = 30e-3,
    rangefinder_sampling_ratio = 1.,
    odometry_sampling_ratio = 1.,
    fixed_frame_pose_sampling_ratio = 1.,
    imu_sampling_ratio = 1.,
    landmarks_sampling_ratio = 1.,
    }

    TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 1
    TRAJECTORY_BUILDER_3D.min_range = 0.2
    TRAJECTORY_BUILDER_3D.max_range = 20.
    TRAJECTORY_BUILDER_2D.min_z = 0.1
    TRAJECTORY_BUILDER_2D.max_z = 1.0
    TRAJECTORY_BUILDER_3D.use_online_correlative_scan_matching = false

    MAP_BUILDER.use_trajectory_builder_3d = true
    MAP_BUILDER.num_background_threads = 4
    POSE_GRAPH.optimization_problem.huber_scale = 5e2
    POSE_GRAPH.optimize_every_n_nodes = 40
    POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
    POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 20
    POSE_GRAPH.constraint_builder.min_score = 0.5
    POSE_GRAPH.constraint_builder.global_localization_min_score = 0.55

    POSE_GRAPH.optimization_problem.odometry_translation_weight = 1e3
    POSE_GRAPH.optimization_problem.odometry_rotation_weight = 1e3

    return options

  • 《ROS2机器人开发：从入门到实践》书籍配套资料答疑专区

    ROS 2相关问题
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    9

    @1270108094 解决了嘛

  • 综合问题讨论版块 | 版主 @吴凯荣 @小鱼

    992
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    Q

    各位大佬 帮忙看看😥

  • 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
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