执行一键安装的过程中遇到以下问题
1、部分依赖安装失败，但可以继续进行后续安装
de9af9ab-7f25-495b-bac5-b8e78fd1838b-image.png
2、从国内源拉取部分镜像时出错，最终安装报错code2
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已尝试中科大、华为源，均失败
查阅早期相关帖子发现3月有网友反馈foxy版ROS2的国内镜像源全都不可用， 结合上面的报错，怀疑国内镜像源问题依然存在

使用官方源安装成功并测试通过，安装时间约15分钟
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dev
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libopencv-features2d4.2 libopencv-flann-dev libopencv-flann4.2
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libopencv-objdetect4.2 libopencv-photo-dev libopencv-photo4.2
libopencv-shape-dev libopencv-shape4.2 libopencv-stitching-dev
libopencv-stitching4.2 libopencv-superres-dev libopencv-superres4.2
libopencv-ts-dev libopencv-video-dev libopencv-video4.2
libopencv-videoio-dev libopencv-videoio4.2 libopencv-videostab-dev
libopencv-videostab4.2 libopencv-viz-dev libopencv-viz4.2 libopencv4.2-java
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libopenjp2-7 libopenjp2-7-dev libopenmpi-dev libopenmpi3 libopenmpt0
libopenni-dev libopenni-sensor-pointclouds0 libopenni0 libopenni2-0
libopenni2-dev libopus0 liborc-0.4-0 liborocos-kdl-dev liborocos-kdl1.4
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mpi-default-dev mutter mutter-common mysql-common network-manager
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pulseaudio-module-bluetooth pyqt5-dev python-matplotlib-data
python3-aptdaemon python3-aptdaemon.gtk3widgets python3-autobahn
python3-bcrypt python3-cairo python3-catkin-pkg python3-catkin-pkg-modules
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python3-protobuf python3-psutil python3-pycryptodome python3-pydot
python3-pygments python3-pykdl python3-pyparsing python3-pyqrcode
python3-pyqt5 python3-pyqt5.qtopengl python3-pyqt5.qtsvg
python3-pyqt5.qtwebkit python3-pyside2.qtcore python3-pyside2.qtgui
python3-pyside2.qtsvg python3-pyside2.qtwidgets python3-rfc3339
python3-roman python3-rosdep-modules python3-rosdistro-modules
python3-rospkg python3-rospkg-modules python3-sip python3-sip-dev
python3-snappy python3-talloc python3-tk python3-trie python3-txaio
python3-tz python3-u-msgpack python3-ubjson python3-vtk7 python3-wsaccel
python3.8-dev qdoc-qt5 qhelpgenerator-qt5 qt5-assistant
qt5-gtk-platformtheme qt5-qmake qt5-qmake-bin qt5-qmltooling-plugins
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qtdeclarative5-dev qtdeclarative5-dev-tools qttools5-dev qttools5-dev-tools
qttools5-private-dev qttranslations5-l10n rake ros-noetic-actionlib
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ros-noetic-camera-calibration ros-noetic-camera-calibration-parsers
ros-noetic-camera-info-manager ros-noetic-catkin ros-noetic-class-loader
ros-noetic-cmake-modules ros-noetic-common-msgs ros-noetic-common-tutorials
ros-noetic-compressed-depth-image-transport
ros-noetic-compressed-image-transport ros-noetic-control-msgs
ros-noetic-control-toolbox ros-noetic-controller-interface
ros-noetic-controller-manager ros-noetic-controller-manager-msgs
ros-noetic-cpp-common ros-noetic-cv-bridge ros-noetic-depth-image-proc
ros-noetic-desktop ros-noetic-desktop-full ros-noetic-diagnostic-aggregator
ros-noetic-diagnostic-analysis ros-noetic-diagnostic-common-diagnostics
ros-noetic-diagnostic-msgs ros-noetic-diagnostic-updater
ros-noetic-diagnostics ros-noetic-diff-drive-controller
ros-noetic-dynamic-reconfigure ros-noetic-eigen-conversions
ros-noetic-executive-smach ros-noetic-filters
ros-noetic-forward-command-controller ros-noetic-gazebo-dev
ros-noetic-gazebo-msgs ros-noetic-gazebo-plugins ros-noetic-gazebo-ros
ros-noetic-gazebo-ros-control ros-noetic-gazebo-ros-pkgs ros-noetic-gencpp
ros-noetic-geneus ros-noetic-genlisp ros-noetic-genmsg ros-noetic-gennodejs
ros-noetic-genpy ros-noetic-geometry ros-noetic-geometry-msgs
ros-noetic-geometry-tutorials ros-noetic-gl-dependency
ros-noetic-hardware-interface ros-noetic-image-common
ros-noetic-image-geometry ros-noetic-image-pipeline ros-noetic-image-proc
ros-noetic-image-publisher ros-noetic-image-rotate
ros-noetic-image-transport ros-noetic-image-transport-plugins
ros-noetic-image-view ros-noetic-interactive-marker-tutorials
ros-noetic-interactive-markers ros-noetic-joint-limits-interface
ros-noetic-joint-state-controller ros-noetic-joint-state-publisher
ros-noetic-joint-state-publisher-gui ros-noetic-kdl-conversions
ros-noetic-kdl-parser ros-noetic-laser-assembler ros-noetic-laser-filters
ros-noetic-laser-geometry ros-noetic-laser-pipeline
ros-noetic-librviz-tutorial ros-noetic-map-msgs ros-noetic-media-export
ros-noetic-message-filters ros-noetic-message-generation
ros-noetic-message-runtime ros-noetic-mk ros-noetic-nav-msgs
ros-noetic-nodelet ros-noetic-nodelet-core ros-noetic-nodelet-topic-tools
ros-noetic-nodelet-tutorial-math ros-noetic-pcl-conversions
ros-noetic-pcl-msgs ros-noetic-pcl-ros ros-noetic-perception
ros-noetic-perception-pcl ros-noetic-pluginlib
ros-noetic-pluginlib-tutorials ros-noetic-polled-camera
ros-noetic-position-controllers ros-noetic-python-qt-binding
ros-noetic-qt-dotgraph ros-noetic-qt-gui ros-noetic-qt-gui-cpp
ros-noetic-qt-gui-py-common ros-noetic-qwt-dependency
ros-noetic-realtime-tools ros-noetic-resource-retriever ros-noetic-robot
ros-noetic-robot-state-publisher ros-noetic-ros ros-noetic-ros-base
ros-noetic-ros-comm ros-noetic-ros-core ros-noetic-ros-environment
ros-noetic-ros-tutorials ros-noetic-rosbag ros-noetic-rosbag-migration-rule
ros-noetic-rosbag-storage ros-noetic-rosbash ros-noetic-rosboost-cfg
ros-noetic-rosbuild ros-noetic-rosclean ros-noetic-rosconsole
ros-noetic-rosconsole-bridge ros-noetic-roscpp ros-noetic-roscpp-core
ros-noetic-roscpp-serialization ros-noetic-roscpp-traits
ros-noetic-roscpp-tutorials ros-noetic-roscreate ros-noetic-rosgraph
ros-noetic-rosgraph-msgs ros-noetic-roslang ros-noetic-roslaunch
ros-noetic-roslib ros-noetic-roslint ros-noetic-roslisp ros-noetic-roslz4
ros-noetic-rosmake ros-noetic-rosmaster ros-noetic-rosmsg ros-noetic-rosnode
ros-noetic-rosout ros-noetic-rospack ros-noetic-rosparam ros-noetic-rospy
ros-noetic-rospy-tutorials ros-noetic-rosservice ros-noetic-rostest
ros-noetic-rostime ros-noetic-rostopic ros-noetic-rosunit ros-noetic-roswtf
ros-noetic-rqt-action ros-noetic-rqt-bag ros-noetic-rqt-bag-plugins
ros-noetic-rqt-common-plugins ros-noetic-rqt-console ros-noetic-rqt-dep
ros-noetic-rqt-graph ros-noetic-rqt-gui ros-noetic-rqt-gui-cpp
ros-noetic-rqt-gui-py ros-noetic-rqt-image-view ros-noetic-rqt-launch
ros-noetic-rqt-logger-level ros-noetic-rqt-moveit ros-noetic-rqt-msg
ros-noetic-rqt-nav-view ros-noetic-rqt-plot ros-noetic-rqt-pose-view
ros-noetic-rqt-publisher ros-noetic-rqt-py-common ros-noetic-rqt-py-console
ros-noetic-rqt-reconfigure ros-noetic-rqt-robot-dashboard
ros-noetic-rqt-robot-monitor ros-noetic-rqt-robot-plugins
ros-noetic-rqt-robot-steering ros-noetic-rqt-runtime-monitor
ros-noetic-rqt-rviz ros-noetic-rqt-service-caller ros-noetic-rqt-shell
ros-noetic-rqt-srv ros-noetic-rqt-tf-tree ros-noetic-rqt-top
ros-noetic-rqt-topic ros-noetic-rqt-web ros-noetic-rviz
ros-noetic-rviz-plugin-tutorials ros-noetic-rviz-python-tutorial
ros-noetic-self-test ros-noetic-sensor-msgs ros-noetic-shape-msgs
ros-noetic-simulators ros-noetic-smach ros-noetic-smach-msgs
ros-noetic-smach-ros ros-noetic-smclib ros-noetic-stage ros-noetic-stage-ros
ros-noetic-std-msgs ros-noetic-std-srvs ros-noetic-stereo-image-proc
ros-noetic-stereo-msgs ros-noetic-tf ros-noetic-tf-conversions
ros-noetic-tf2 ros-noetic-tf2-eigen ros-noetic-tf2-geometry-msgs
ros-noetic-tf2-kdl ros-noetic-tf2-msgs ros-noetic-tf2-py ros-noetic-tf2-ros
ros-noetic-theora-image-transport ros-noetic-topic-tools
ros-noetic-trajectory-msgs ros-noetic-transmission-interface
ros-noetic-turtle-actionlib ros-noetic-turtle-tf ros-noetic-turtle-tf2
ros-noetic-turtlesim ros-noetic-urdf ros-noetic-urdf-parser-plugin
ros-noetic-urdf-sim-tutorial ros-noetic-urdf-tutorial
ros-noetic-vision-opencv ros-noetic-visualization-marker-tutorials
ros-noetic-visualization-msgs ros-noetic-visualization-tutorials
ros-noetic-viz ros-noetic-webkit-dependency ros-noetic-xacro
ros-noetic-xmlrpcpp rtkit ruby ruby-minitest ruby-net-telnet
ruby-power-assert ruby-test-unit ruby-xmlrpc ruby2.7 rubygems-integration
rygel samba-libs sane-utils sbcl sdformat9-sdf session-migration sgml-base
sgml-data shiboken2 sip-dev switcheroo-control system-config-printer
system-config-printer-common system-config-printer-udev tango-icon-theme tcl
tcl-dev tcl-vtk7 tcl8.6 tcl8.6-dev tk tk-dev tk8.6 tk8.6-blt2.5 tk8.6-dev
ttf-bitstream-vera ttf-dejavu-core ubuntu-docs ubuntu-session
ubuntu-wallpapers ubuntu-wallpapers-focal unixodbc-dev unzip update-inetd
upower usb-modeswitch usb-modeswitch-data usbmuxd uuid-dev va-driver-all
vdpau-driver-all vtk7 wamerican whoopsie-preferences wireless-regdb
wpasupplicant x11-xkb-utils x11-xserver-utils x11proto-core-dev x11proto-dev
x11proto-input-dev x11proto-randr-dev x11proto-scrnsaver-dev
x11proto-xext-dev x11proto-xinerama-dev xbitmaps xdg-dbus-proxy xfonts-base
xfonts-encodings xfonts-utils xml-core xorg-sgml-doctools xserver-common
xserver-xephyr xserver-xorg xserver-xorg-core xserver-xorg-input-all
xserver-xorg-input-libinput xserver-xorg-input-wacom xserver-xorg-legacy
xserver-xorg-video-all xserver-xorg-video-amdgpu xserver-xorg-video-ati
xserver-xorg-video-fbdev xserver-xorg-video-intel xserver-xorg-video-nouveau
xserver-xorg-video-qxl xserver-xorg-video-radeon xserver-xorg-video-vesa
xserver-xorg-video-vmware xterm xtrans-dev xwayland yaru-theme-gnome-shell
yelp yelp-xsl zenity zenity-common zip zlib1g-dev
0 upgraded, 1503 newly installed, 0 to remove and 6 not upgraded.
Need to get 54.7 kB/801 MB of archives.
After this operation, 4734 MB of additional disk space will be used.
Err:1 https://mirrors.ustc.edu.cn/ros2/ubuntu focal/main amd64 python3-rosdep-modules all 0.26.0-1
404 Not Found [IP: 202.38.95.110 443]
====================ERR====================
Execute Command: sudo apt install python3-rosdep -y Error Code100
====================OUT====================
Reading package lists...
Building dependency tree...
Reading state information...
The following additional packages will be installed:
python3-rosdep-modules python3-rosdistro-modules python3-rospkg-modules
The following NEW packages will be installed:
python3-rosdep python3-rosdep-modules python3-rosdistro-modules
python3-rospkg-modules
0 upgraded, 4 newly installed, 0 to remove and 6 not upgraded.
Need to get 58.0 kB/118 kB of archives.
After this operation, 801 kB of additional disk space will be used.
Err:1 https://mirrors.ustc.edu.cn/ros2/ubuntu focal/main amd64 python3-rosdep-modules all 0.26.0-1
404 Not Found [IP: 202.38.95.110 443]
Err:2 https://mirrors.ustc.edu.cn/ros2/ubuntu focal/main amd64 python3-rosdep all 0.26.0-1
404 Not Found [IP: 202.38.95.110 443]
====================ERR====================
Execute Command: ls /opt/ros/noetic/setup.bash Error Code2
====================OUT====================
====================ERR====================
ls: cannot access '/opt/ros/noetic/setup.bash': No such file or directory
Execute Command: ls /opt/ros/noetic/setup.bash Error Code2
====================OUT====================
====================ERR====================
ls: cannot access '/opt/ros/noetic/setup.bash': No such file or directory

f4ccb459-1300-4cee-a8cb-89016946634b-image.png

28a24003-d54d-43c6-976a-293e8b8e3d58-image.png
wifi的密码账号还有ip地址都是和主控板一致的,跳线帽在配置完wifi后也从串口模式归位为wifi模式,
重启机器人后还是依旧等待接受连接
有什么解决方案吗

352c1a32-965f-46df-8706-2d711cf62364-image.png

570f959a-02a1-4ae1-be3c-fe691269d998-image.png

5f4e72ab-80c7-4c74-9599-e583162e0249-image.png

无法连接成功,wifi的ip,账号密码都是对的,wifi也是2.4g,电脑连接的网线,但也同时连接了相同wifi,跟着9.5.1的流程走,一直无法链接成功

be256b751ce090c65dd1531a00f69351.png

遇到了ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888后没有输出的问题。
遇到了单片机串口监听会有如下类似输出：

Guru Meditation Error: Core 1 panic'ed (IllegalInstruction). Exception was unhandled. Memory dump at 0x400d2cb0: 6cab6520 04adf01d e5201110 Core 1 register dump: PC : 0x400d2cb4 PS : 0x00060730 A0 : 0x00000000 A1 : 0x3ffb4a70 A2 : 0x3ffc3d40 A3 : 0x3ffc3cb8 A4 : 0x3ffc3d74 A5 : 0x00000000 A6 : 0x00000000 A7 : 0x00000000 A8 : 0x800d2cb4 A9 : 0x3ffb4a50 A10 : 0x00000001 A11 : 0xfffffffd A12 : 0x00000000 A13 : 0x00000000 A14 : 0x00000001 A15 : 0x3ffc3cb8 SAR : 0x00000020 EXCCAUSE: 0x00000000 EXCVADDR: 0x00000000 LBEG : 0x40084681 LEND : 0x40084689 LCOUNT : 0x00000027 Backtrace: 0x400d2cb1:0x3ffb4a70 ELF file SHA256: 49c2f071dd978ec8 Rebooting... ets Jul 29 2019 12:21:46 rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT) configsip: 0, SPIWP:0xee clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 mode:DIO, clock div:2 load:0x3fff0030,len:1184 load:0x40078000,len:13232 load:0x40080400,len:3028 entry 0x400805e4

解决办法检查ip是否正确（wsl2可以开镜像模式，不会的问问ai）。检查WiFi是否连上，wsl用户确保防火墙给过（我就是wifi连上但是防火墙问题，也可以问问ai），wifi质量。
调试的时候在代码里多加一点打印函数以确保知道哪一步出问题了。

void microros_task(void *args) { // 1.设置传输协议并延迟一段时间等待设置的完成。 IPAddress agent_ip; // 用来存储 IP 地址。 agent_ip.fromString("xxx"); // 电脑/手机当前的IP地址。 set_microros_wifi_transports("xxx", "xxx", agent_ip, 8888); // 设置传输协议。告诉机器人连名称为“xxx”的WiFi，密码为“xxx”。之后去往代理服务器的IP地址为xxx，端口号为8888的地方发消息。 Serial.print("WiFi status: "); Serial.println(WiFi.status() == WL_CONNECTED ? "Connected" : "Failed"); // 判断wifi是否连接上，ture则"Connected"，false则"Failed"。 if (WiFi.status() == WL_CONNECTED) { Serial.print("IP: "); Serial.println(WiFi.localIP()); } delay(2000); // 等待2秒，等待wifi连接。 // 2.初始化内存分配器。 allocator = rcl_get_default_allocator(); // 获取默认的内存分配器。 // 3.初始化支持，并检查错误。 if (rclc_support_init(&support, 0, NULL, &allocator) != RCL_RET_OK) { Serial.println("support init failed"); } // 初始化支持。使用这个默认的内存分配器 allocator（它使用标准的 malloc 和 free），在没有任何命令行参数的情况下，帮我初始化好 ROS 2 客户端库的底层环境，并把所有初始化好的状态信息都保存在 support 这个结构体里，供我后续创建节点使用。 // 4.初始化节点，并检查错误。 if (rclc_node_init_default(&node, "fishbot_motion_control", "", &support) != RCL_RET_OK) { Serial.println("node init failed"); } // 初始化节点。在由 support 提供的运行环境中，创建一个名为 fishbot_motion_control 的节点，它位于全局命名空间（""），并把这个节点的所有状态信息保存在 node 这个结构体里。 // 5.初始化执行器，并检查错误。 unsigned int num_handles = 1; // 订阅和计时器的数量，注意这是一个要改的参数（句柄的数量）。大概，比如我设置5，它就有了5个槽位，编号0-4。现在比如0-3我填满了（有东西要执行），他就会去依次询问0-3有没有执行（有没有消息），没执行要去执行他们对应的功能（有消息回调）。句柄 = 唯一识别号。 if (rclc_executor_init(&executor, &support.context, 1, &allocator) != RCL_RET_OK) { Serial.println("executor init failed"); } // 初始化执行器。使用 allocator 这个内存分配器，在 support.context 提供的 ROS 通信上下文里，初始化一个执行器 executor，让它能够管理 num_handles 个句柄（比如x个订阅者或定时器）。 // 6.初始化订阅者，并将其添加到执行器中。 rclc_subscription_init_best_effort(&sub_cmd_vel, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist), "/cmd_vel"); // 订阅者句柄地址，节点句柄地址，消息类型支持（什么类型的消息）（地址），话题名称（订阅哪个话题）。ROSIDL_GET_MSG_TYPE_SUPPORT 是 ROS 2 C语言客户端库（rclc）中一个非常重要的预处理宏，它就像是订阅者与特定消息类型之间的"桥梁"或"身份证"。 rclc_executor_add_subscription(&executor, &sub_cmd_vel, &msg_cmd_vel, twist_callback, ON_NEW_DATA); // 执行器句柄地址，订阅者句柄地址，存放接收到的消息的内存空间的地址（消息缓冲区），回调函数，触发条件：有新数据时触发，一收到消息就执行回调。 // 7.循环执行器。 rclc_executor_spin(&executor); // 循环执行器。它会持续地、反复地检查所有已添加到执行器的句柄（如订阅者、定时器），并处理它们对应的回调函数。只要 ROS 2 的上下文（context）保持有效，这个循环就不会停止. // // spin 返回说明上下文已失效;不要跑完任务,直接挂起: // while (1) { vTaskDelay(pdMS_TO_TICKS(1000)); } // 或 vTaskDelete(NULL); }

此外，调试的时候在setup里的打印串口不一定来得及显示，故setup（）中别忘了延迟。

void setup() { // 初始化串口。 Serial.begin(115200); // 初始化串口通信，波特率为115200 // delay(5000); // 测试使用，确保串口能监视。

测试时，ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888一直开着，小车复位就行。

我之前串口显示：

WiFi status: Connected IP: xxx support init failed node init failed

windows下打开powershell（管理员）

New-NetFirewallRule -DisplayName "Micro-ROS Agent" -Direction Inbound -Action Allow -Protocol UDP -LocalPort 8888

后来就没有问题了。

~/chapt9/fishbot_ws$ ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 [1788770845.577995] info | UDPv4AgentLinux.cpp | init | running... | port: 8888 [1788770845.578219] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4 [1788770856.901357] info | Root.cpp | create_client | create | client_key: 0x2DA90876, session_id: 0x81 [1788770856.901571] info | SessionManager.hpp | establish_session | session established | client_key: 0x2DA90876, address: xxx [1788770857.263512] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x2DA90876, participant_id: 0x000(1) [1788770857.460412] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x2DA90876, topic_id: 0x000(2), participant_id: 0x000(1) [1788770857.714279] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x2DA90876, subscriber_id: 0x000(4), participant_id: 0x000(1) [1788770857.743909] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x2DA90876, datareader_id: 0x000(6), subscriber_id: 0x000(4) [1788771241.953583] info | Root.cpp | delete_client | delete | client_key: 0x2DA90876 [1788771241.953708] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x2DA90876, address: xxx [1788771241.953756] info | Root.cpp | create_client | create | client_key: 0x332EE297, session_id: 0x81 [1788771241.953773] info | SessionManager.hpp | establish_session | session established | client_key: 0x332EE297, address: xxx [1788771242.306195] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x332EE297, participant_id: 0x000(1) [1788771242.369915] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x332EE297, topic_id: 0x000(2), participant_id: 0x000(1) [1788771242.511903] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x332EE297, subscriber_id: 0x000(4), participant_id: 0x000(1) [1788771242.601624] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x332EE297, datareader_id: 0x000(6), subscriber_id: 0x000(4)

以及

~/chapt9/fishbot_ws$ ros2 node list /fishbot_motion_control

（TeamHD 工控主机）
配置：8G 内存 + 128G eMMC，后置 TF 卡槽、uboot 刷机按键。

当前系统 Ubuntu20.04，SSH、网络正常。查询 /dev/rknpu* 无设备，NPU 驱动缺失，无法运行 AI 模型。

求全套资料：
1.Ubuntu22.04 固件，内置 RKNN‑NPU 驱动；
2.TF 卡离线刷机教程，uboot 按键刷机步骤；
3. 引脚图、SDK、ROS2 适配文档。
附实拍图，感谢大佬帮忙！微信图片_20260904222446_221_2.jpg

我在fishbot配置助手里已经显示写入成功了，但是我查看的时候server_port还是原来的数值，怎么都不行，重启也不行。

安装ubuntu时，powershell输入安装命令，为什么我一直是无法解析服务器的名称或地址，在微软商店里面下载打开也是报错

QQ_1788017101394.png我安装espeakng一直显示连接被拒绝是为啥啊

跳线帽改到了有线模式，然后用USB连接树莓派和雷达板的typec口，但是雷达不转。
USB 串口 /dev/ttyUSB0 正常；
驱动能读取雷达健康状态，说明 TX/RX 通；
驱动启动后没有扫描数据，电机不转；
手动测试 CH340 的 DTR、RTS 四种组合，电机均不转；
WiFi 模式能转，证明雷达、供电和电机本身正常；
FishBot 固件源码显示：电机由板载 ESP 的 PWM 控制；
UART 模式拔掉 EN 后，ESP 关闭，电机控制也随之消失。

板子丝印是 v1.3.0-240315
请问是什么原因？

health status: good
timout count: 1
Failed to turn on the Lidar

在跟随bilibili鱼香ros学习4.4部分时，遇到了和老师情况不一致的问题，更改模型的代码被连续调用，导致两次识别都调用同一个模型，客户端警告显示参数未成功传达，下为日志内容：
客户端：

dayuan-yang@PC:~/ros2_study/chap4/chap4_ws$ ros2 run demo_python_service face_detect_client_node [INFO] [1787124538.958904638] [face_detect]: 程序初始化中... [WARN] [1787124538.990364957] [face_detect]: Failed to set parameter: ('Invalid access to undeclared parameter(s)', []) [INFO] [1787124538.991026765] [face_detect]: 设置参数结果：True [WARN] [1787124538.993885051] [face_detect]: Failed to set parameter: ('Invalid access to undeclared parameter(s)', []) [INFO] [1787124538.994529910] [face_detect]: 设置参数结果：False('Invalid access to undeclared parameter(s)', []) [INFO] [1787124561.033881156] [face_detect]: 接受到响应，共有4张人脸，耗时22.025774002075195s [INFO] [1787124583.209261306] [face_detect]: 接受到响应，共有4张人脸，耗时22.173126220703125s

服务端：

dayuan-yang@PC:~/ros2_study/chap4/chap4_ws$ ros2 run demo_python_service face_detect_node [INFO] [1787124525.172487136] [face_detect]: 程序初始化中... [INFO] [1787124538.990148770] [face_detect]: model_->hog [INFO] [1787124538.993789954] [face_detect]: model_->cnn [INFO] [1787124539.006120170] [face_detect]: 程序初始化完成！ [INFO] [1787124539.006555388] [face_detect]: 图像加载完成，开始识别... [INFO] [1787124561.032812079] [face_detect]: 图像识别完成，已输出 [INFO] [1787124561.034411347] [face_detect]: 程序初始化完成！ [INFO] [1787124561.034775206] [face_detect]: 图像加载完成，开始识别... [INFO] [1787124583.208339303] [face_detect]: 图像识别完成，已输出

我的客户端代码为：

from rclpy.node import Node from cv_bridge import CvBridge from rcl_interfaces.srv import SetParameters from chap4_interfaces.srv import FaceDetector from ament_index_python.packages import get_package_share_directory from rcl_interfaces.msg import Parameter, ParameterValue, ParameterType import os import cv2 import time import rclpy import face_recognition class FaceDetectClientNode(Node): def __init__(self, node_name): super().__init__(node_name) self.get_logger().info("程序初始化中...") self.bridge = CvBridge() self.default_image_path = os.path.join(get_package_share_directory('demo_python_service'), 'resource/test1.jpg') self.client_ = self.create_client(FaceDetector, "face_detect") self.image = cv2.imread(self.default_image_path) def call_set_parameters(self, parameters): """ 调用服务，更改参数 """ update_param = self.create_client(SetParameters, "/face_detect/set_parameters") while update_param.wait_for_service(timeout_sec=1.0) is False: self.get_logger().info("等待参数更新服务端上线...") request = SetParameters.Request() request.parameters = parameters future = update_param.call_async(request) rclpy.spin_until_future_complete(self, future) response = future.result() return response def update_detect_model(self, model = "hog"): """ 根据传入的model,构建Parameters,然后调用call_set_parameters更新服务端参数 """ param = Parameter() param.name = "model_" param_value = ParameterValue() param_value.string_value = model param_value.type = ParameterType.PARAMETER_STRING param.value = param_value response = self.call_set_parameters([param]) for result in response.results: self.get_logger().info(f"设置参数结果：{result.successful}{result.reason}") def send_request(self): while self.client_.wait_for_service(timeout_sec=1.0) is False: self.get_logger().info("等待服务端上线...") request = FaceDetector.Request() request.image = self.bridge.cv2_to_imgmsg(self.image) future = self.client_.call_async(request) # while not future.done(): # time.sleep(1.0) # rclpy.spin_until_future_complete(self, future) # response = future.result() # self.get_logger().info(f"接受到响应，共有{response.number}张人脸，耗时{response.use_time}s") def result_callback(result_future): response = result_future.result() self.get_logger().info(f"接受到响应，共有{response.number}张人脸，耗时{response.use_time}s") # self.show_response(response) future.add_done_callback(result_callback) def show_response(self, response): for i in range(response.number): top = response.top[i] right = response.right[i] bottom = response.bottom[i] left = response.left[i] cv2.rectangle(self.image, (left, top), (right, bottom), (255, 0, 0), 4) cv2.imshow("face_detect_result", self.image) def main(): rclpy.init() node = FaceDetectClientNode("face_detect") node.update_detect_model("hog") node.send_request() node.update_detect_model("cnn") node.send_request() rclpy.spin(node) rclpy.shutdown()

服务端代码为：

from rclpy.node import Node from cv_bridge import CvBridge from chap4_interfaces.srv import FaceDetector from rcl_interfaces.msg import SetParametersResult from ament_index_python.packages import get_package_share_directory import os import cv2 import time import rclpy import face_recognition class FaceDetectNode(Node): def __init__(self, node_name): super().__init__(node_name) self.get_logger().info("程序初始化中...") self.service_ = self.create_service(FaceDetector, "face_detect", self.callback_face_detect) self.bridge = CvBridge() self.default_image_path = os.path.join(get_package_share_directory('demo_python_service'), 'resource/default.jpg') self.declare_parameter("number_of_times_to_upsample_", 1) self.declare_parameter("model_", "hog") self.number_of_times_to_upsample_ = self.get_parameter("number_of_times_to_upsample_").value self.model_ = self.get_parameter("model_").value self.add_on_set_parameters_callback(self.parameters_callback) def parameters_callback(self, parameters): for parameter in parameters: self.get_logger().info(f"{parameter.name}->{parameter.value}") if parameter.name == "number_of_times_to_upsample_": self.number_of_times_to_upsample_ = parameter.value if parameter.name == "model_": self.model_ = parameter.value return SetParametersResult(successful=True) def callback_face_detect(self, request, response): self.get_logger().info("程序初始化完成！") if request.image.data: cv_image = self.bridge.imgmsg_to_cv2(request.image) else: cv_image = cv2.imread(self.default_image_path) self.get_logger().warn("图像为空，加载默认图像") self.get_logger().info("图像加载完成，开始识别...") start_time = time.time() face_location = face_recognition.face_locations(cv_image, number_of_times_to_upsample=self.number_of_times_to_upsample_, model=self.model_) response.use_time = time.time() - start_time response.number = len(face_location) for top, right, bottom, left in face_location: cv2.rectangle(cv_image, (left, top), (right, bottom), (255, 0, 0), 4) response.top.append(top) response.right.append(right) response.bottom.append(bottom) response.left.append(left) self.get_logger().info("图像识别完成，已输出") return response def main(): rclpy.init() node = FaceDetectNode("face_detect") rclpy.spin(node) rclpy.shutdown()

求助各位大佬，这是哪里出问题了

写了一个阿克曼转向的小车URDF，导入到GAZEBO之后会自己往后缓慢的倒车，不是滑动，车轮也在转

请问小鱼有没有二驱小车的模型文件呢？想在rviz中也看得见小车

a678bf47-955a-43c9-95eb-ae89574de198-1d26a4d77f59da7a2abb4cc1c0a83524.jpg

我安装好部件之后，我就发现没有对应的IP地址显示。所以我就按照步骤下载安装最新的1.8.2alpha版的固件，能够在配置助手上下载对应的固件，但是也没有显示对应的ip.

我使用的是鱼香B占上的机器人，自己在Gazebo中搭建的场景，但是建图总有问题。

截图 2026-08-09 10-54-52.png 截图 2026-08-09 10-55-43.png

在进行雷达固件烧录时，雷达不转动，可以确定的是小车供电很足，并且已经换了一个新的雷达，但是新旧雷达在进行雷达固件烧录时的开始时，都不转动，也确定是在Flash模式下，也没有接到二驱板上 还有就是在之前雷达可以转动时，xhost + && sudo docker run -it --rm -p 8889:8889 -p 8889:8889/udp -v /dev:/dev -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=unix$DISPLAY registry.cn-hangzhou.aliyuncs.com/fishros/fishbot_laser 这个命令的输出，我是缺少scan话题的

移动雷达后，大约10s才能在rviz中看到相应的点云移动，查看话题发现频率只有1hz左右，这是什么原因造成的呢？
Ubuntu22.04 ros2 humble

在将Ubuntu安装到u盘时，烧录正常，进入BIOS选择U盘后，电脑一直显示logo界面，无法进入Ubuntu系统