ls@ls-OMEN-Gaming-Laptop-16-ae0xxx:~/chapter6/chapter6_ws$ ros2 launch fishbot_description display_robot.launch.py
[INFO] [launch]: All log files can be found below /home/ls/.ros/log/2025-07-14-22-50-13-406014-ls-OMEN-Gaming-Laptop-16-ae0xxx-7918
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [7920]
[INFO] [joint_state_publisher-2]: process started with pid [7922]
[INFO] [rviz2-3]: process started with pid [7924]
[robot_state_publisher-1] [INFO] [1752504613.535700714] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1752504613.535768118] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1752504613.535774413] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1752504613.535777807] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1752504613.535781003] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1752504613.535784553] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1752504613.535787920] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1752504613.535791156] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1752504613.535794234] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1752504613.535797336] [robot_state_publisher]: got segment right_wheel_link
[rviz2-3] /opt/ros/humble/lib/rviz2/rviz2: symbol lookup error: /snap/core20/current/lib/x86_64-linux-gnu/libpthread.so.0: undefined symbol: __libc_pthread_init, version GLIBC_PRIVATE
[ERROR] [rviz2-3]: process has died [pid 7924, exit code 127, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/ls/chapter6/chapter6_ws/install/fishbot_description/share/fishbot_description/config/rviz/display_model.rviz --ros-args'].
[joint_state_publisher-2] [INFO] [1752504613.756091603] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1752504624.928440216] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 7920]
[INFO] [joint_state_publisher-2]: process has finished cleanly [pid 7922]

本人C++和python都会一点，不知道需不需要掌握两种语言的写法，就是ROS2的课程

ad3381ef-2366-4abc-9798-645de4ee123f-image.png
256985dd-084c-4c91-ada2-5aa90d9aa1b2-image.png
589e1f14-d6b7-43e2-97f2-d41befc2b719-image.png
这里有什么需要配置的吗

ls@ls-OMEN-Gaming-Laptop-16-ae0xxx:~/chapter6/chapter6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py
[INFO] [launch]: All log files can be found below /home/ls/.ros/log/2025-07-14-19-31-02-736177-ls-OMEN-Gaming-Laptop-16-ae0xxx-43738
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [43741]
[INFO] [gzserver-2]: process started with pid [43743]
[INFO] [gzclient-3]: process started with pid [43745]
[INFO] [spawn_entity.py-4]: process started with pid [43747]
[robot_state_publisher-1] [INFO] [1752492663.155872124] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1752492663.155987358] [robot_state_publisher]: got segment back_wheel_link
[robot_state_publisher-1] [INFO] [1752492663.156001201] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1752492663.156010853] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1752492663.156019436] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1752492663.156027798] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1752492663.156036241] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1752492663.156044576] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1752492663.156052841] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1752492663.156060997] [robot_state_publisher]: got segment left_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]
[spawn_entity.py-4] Traceback (most recent call last):
[spawn_entity.py-4] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 31, in <module>
[spawn_entity.py-4] from lxml import etree as ElementTree
[spawn_entity.py-4] ModuleNotFoundError: No module named 'lxml'
[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]
[ERROR] [spawn_entity.py-4]: process has died [pid 43747, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic /robot_description -entity fishbot --ros-args'].
[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]
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 10.197.145.93
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/Optical_flow"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/Sunflower"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/TensorRT"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/Test"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/YOLO"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/cartographer"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/define"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/final_reference"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/lidarteachws"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/omniverse"
[gzclient-3] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/ls/Desktop/robotcontrol"
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzclient-3] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[robot_state_publisher-1] [INFO] [1752492883.290270574] [rclcpp]: signal_handler(signum=2)
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 10.197.145.93
[gzserver-2] [Msg] Loading world file [/home/ls/chapter6/chapter6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 43741]
[INFO] [gzserver-2]: process has finished cleanly [pid 43743]
[gzserver-2]
[gzserver-2]
[INFO] [gzclient-3]: process has finished cleanly [pid 43745]
[gzclient-3]
[gzclient-3]

通过网盘分享的文件：FishBot_VMware
链接: https://pan.baidu.com/s/1tVDm_pWtZ0m1XENqSAKLUg?pwd=fish 提取码: fish
--来自百度网盘超级会员v2的分享

1、下载网盘里的文件
a7bb14e0-6876-44a9-8f4c-85dbf659b4ad-image.png

2、打开VMware-workstation-full-17.5.2-23775571.exe，一直点击下一步，安装VMware。在最后一步完成时输入密钥，密钥为VM全版本许可证密钥里的VMware-workstation 17的密钥。
安装完成之后桌面上会有如下图标
14992647-5f13-4378-9109-77fc5f6bdfbe-image.png

3、解压网盘里的镜像文件压缩包
095bca56-ce46-486a-9391-011741d79a3e-image.png

4、双击点开VMware，在文件里面打开解压得到的Ubuntu22_FishBot
0b899981-1ccb-407c-a92d-408630e63035-image.png
e3abc024-40da-49e5-808a-eff512aeda56-image.png

5、打开之后会弹出导入虚拟机的弹窗，给虚拟机起一个名字，安排合适的路径
5fa6ea21-667e-4f4d-b2ff-39312bace706-image.png

设置完之后点击导入

6、导入之后，在编辑虚拟机设置里面可以修改内存大小，直接点击“开启此虚拟机”进入fishros的虚拟机，密码ros
59a3a74d-ec21-460c-a176-21b54bb289d6-image.png

主机无法接收到机器人的发送，通过tcpdump抓包，在主机向机器人发送数据时，两端都能够抓取到数据包，而机器人向主机发送时，仅在机器人端能够抓取到数据包。
想要完成在主机接受机身摄像头发布的图像数据，但是主机无法发现机器人发布的主题

安装mirco-ROS-Agent，colcon build时，出现如下错误

7fcd7191-e5ec-49f7-ad18-e878624fcd45-image.png

我的系统是ubuntu20.04，用的ros是galactic,我在同步之前录制了一个bag包，包含6个相机和一个激光雷达的信息系，下面是bag包的相关信息：

c606@ubuntu:~/fyx/data_bag$ ros2 bag info rosbag2_2025_07_10-03_25_26 Files: rosbag2_2025_07_10-03_25_26_0.db3 Bag size: 2.4 GiB Storage id: sqlite3 Duration: 17.252s Start: Jul 10 2025 03:25:28.197 (1752143128.197) End: Jul 10 2025 03:25:45.450 (1752143145.450) Messages: 999 Topic information: Topic: /rslidar_points | Type: sensor_msgs/msg/PointCloud2 | Count: 173 | Serialization Format: cdr Topic: /camera1/pylon_ros2_camera_node/image_raw | Type: sensor_msgs/msg/Image | Count: 135 | Serialization Format: cdr Topic: /camera3/pylon_ros2_camera_node/image_raw | Type: sensor_msgs/msg/Image | Count: 137 | Serialization Format: cdr Topic: /camera2/pylon_ros2_camera_node/image_raw | Type: sensor_msgs/msg/Image | Count: 123 | Serialization Format: cdr Topic: /camera4/pylon_ros2_camera_node/image_raw | Type: sensor_msgs/msg/Image | Count: 144 | Serialization Format: cdr Topic: /camera5/pylon_ros2_camera_node/image_raw | Type: sensor_msgs/msg/Image | Count: 146 | Serialization Format: cdr Topic: /camera6/pylon_ros2_camera_node/image_raw | Type: sensor_msgs/msg/Image | Count: 141 | Serialization Format: cdr

接着我写了一个功能包，作用是接受相机和雷达的话题，将话题内容同步后再以话题的形式发送出去，在写好节点代码后，我先通过命令ros2 run sys_time sys_time_node开启节点，再通过ros2 bag record -o synced_bag /clock $(ros2 topic list | grep "synced")命令开启录制，最后通过ros2 bag play rosbag2_2025_07_10-03_25_26 --loop --clock --read-ahead-queue-size 10000命令播放原始bag包。

在播放bag包后我发现同步节点的回调函数没有被调用，结束录制命令后我通过rqt_bag synced_bag命令查看时间戳，发现没有时间戳，这证明同步未进行或者同步失败了。

下面是我同步节点的运行日志：
c606@ubuntu:~/fyx/e2e_ws$ ros2 run sys_time sys_time_node
[INFO] [1752477350.845923197] [multi_sensor_sync]: 🚀 多传感器同步节点已启动 (ApproximateTime策略)
[WARN] [1752477359.044116748] []: Messages of type 6 arrived out of order (will print only once)
[WARN] [1752477376.810937820] []: Messages of type 3 arrived out of order (will print only once)
[WARN] [1752477376.825926258] []: Messages of type 0 arrived out of order (will print only once)
[WARN] [1752477376.831166002] []: Messages of type 2 arrived out of order (will print only once)
[WARN] [1752477376.840478915] []: Messages of type 5 arrived out of order (will print only once)
[WARN] [1752477376.891147241] []: Messages of type 1 arrived out of order (will print only once)
[WARN] [1752477377.102514764] []: Messages of type 4 arrived out of order (will print only once)

下面是我的同步节点代码：

#include <rclcpp/rclcpp.hpp> #include <sensor_msgs/msg/image.hpp> #include <sensor_msgs/msg/point_cloud2.hpp> #include <message_filters/subscriber.h> #include <message_filters/synchronizer.h> #include <message_filters/sync_policies/approximate_time.h> using ImageMsg = sensor_msgs::msg::Image; using PointCloud2Msg = sensor_msgs::msg::PointCloud2; class MultiSensorSync : public rclcpp::Node { public: MultiSensorSync() : Node("multi_sensor_sync") { // 增强QoS配置 auto qos = rclcpp::SensorDataQoS() .keep_last(20) // 增大缓存队列 .reliable() // 可靠传输模式 .durability_volatile(); // 允许历史数据 initPublishers(qos); initSubscribersAndSync(qos); RCLCPP_INFO(this->get_logger(), "🚀 多传感器同步节点已启动 (ApproximateTime策略)"); } private: void initPublishers(const rclcpp::QoS& qos) { for (int i = 0; i < 6; ++i) { cam_pubs_.push_back( this->create_publisher<ImageMsg>("/camera" + std::to_string(i+1) + "/synced/image_raw", qos) ); } lidar_pub_ = this->create_publisher<PointCloud2Msg>("/rslidar_points/synced", qos); } void initSubscribersAndSync(const rclcpp::QoS& qos) { // 创建相机订阅器 for (int i = 0; i < 6; ++i) { cam_subs_.push_back( std::make_shared<message_filters::Subscriber<ImageMsg>>( this, "/camera" + std::to_string(i+1) + "/pylon_ros2_camera_node/image_raw", qos.get_rmw_qos_profile() ) ); } // 创建雷达订阅器 lidar_sub_ = std::make_shared<message_filters::Subscriber<PointCloud2Msg>>( this, "/rslidar_points", qos.get_rmw_qos_profile() ); // 配置ApproximateTime策略 using SyncPolicy = message_filters::sync_policies::ApproximateTime< ImageMsg, ImageMsg, ImageMsg, ImageMsg, ImageMsg, ImageMsg, PointCloud2Msg>; // 创建同步器（增大时间窗口） sync_ = std::make_shared<message_filters::Synchronizer<SyncPolicy>>( SyncPolicy(50), // 队列大小增至50 *cam_subs_[0], *cam_subs_[1], *cam_subs_[2], *cam_subs_[3], *cam_subs_[4], *cam_subs_[5], *lidar_sub_ ); // 注册回调并绑定生命周期 sync_->registerCallback( std::bind(&MultiSensorSync::syncCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, std::placeholders::_6, std::placeholders::_7 ) ); } void syncCallback( const ImageMsg::ConstSharedPtr& cam1, const ImageMsg::ConstSharedPtr& cam2, const ImageMsg::ConstSharedPtr& cam3, const ImageMsg::ConstSharedPtr& cam4, const ImageMsg::ConstSharedPtr& cam5, const ImageMsg::ConstSharedPtr& cam6, const PointCloud2Msg::ConstSharedPtr& lidar) { // 使用第一个相机的时间戳作为基准 //const auto& base_stamp = cam1->header.stamp; const auto& base_stamp = lidar->header.stamp; // 发布所有相机数据（统一时间戳） publishWithStamp(cam_pubs_[0], cam1, base_stamp); publishWithStamp(cam_pubs_[1], cam2, base_stamp); publishWithStamp(cam_pubs_[2], cam3, base_stamp); publishWithStamp(cam_pubs_[3], cam4, base_stamp); publishWithStamp(cam_pubs_[4], cam5, base_stamp); publishWithStamp(cam_pubs_[5], cam6, base_stamp); // 发布雷达数据（统一时间戳） auto new_lidar = std::make_shared<PointCloud2Msg>(*lidar); new_lidar->header.stamp = base_stamp; lidar_pub_->publish(*new_lidar); // 修复时间戳访问方式 RCLCPP_INFO(this->get_logger(), "🔥 同步发布 @ %d.%09d", base_stamp.sec, base_stamp.nanosec); } void publishWithStamp(rclcpp::Publisher<ImageMsg>::SharedPtr pub, const ImageMsg::ConstSharedPtr& msg, const builtin_interfaces::msg::Time& stamp) { auto new_msg = std::make_shared<ImageMsg>(*msg); new_msg->header.stamp = stamp; pub->publish(*new_msg); } // 成员变量 std::vector<rclcpp::Publisher<ImageMsg>::SharedPtr> cam_pubs_; std::vector<std::shared_ptr<message_filters::Subscriber<ImageMsg>>> cam_subs_; rclcpp::Publisher<PointCloud2Msg>::SharedPtr lidar_pub_; std::shared_ptr<message_filters::Subscriber<PointCloud2Msg>> lidar_sub_; using SyncPolicy = message_filters::sync_policies::ApproximateTime< ImageMsg, ImageMsg, ImageMsg, ImageMsg, ImageMsg, ImageMsg, PointCloud2Msg>; std::shared_ptr<message_filters::Synchronizer<SyncPolicy>> sync_; }; int main(int argc, char** argv) { rclcpp::init(argc, argv); rclcpp::executors::MultiThreadedExecutor executor; auto node = std::make_shared<MultiSensorSync>(); executor.add_node(node); executor.spin(); rclcpp::shutdown(); return 0; }

最后还有一点，我录制的原始bag中相机和雷达的频率在10hz左右，下面是原始bag中的时间戳截图：
Screenshot from 2025-07-14 00-46-07.png

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

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

rviz显示如下

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

rqt显示如下

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

查看 map 无数据输出 odom无相关话题

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

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

scan有输出

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

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

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

导航时一跑地图就飘了怎么办

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

TypeError processing template 'srv.idl.em'

Traceback (most recent call last):

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

TypeError: 'module' object is not callable

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

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

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

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

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

launch文件中加载参数

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

启动信息

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

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

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

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

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

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