谢谢小鱼。之前在u盘上安装默认的22.04运行很好。现在想问一下是否可以安装24.04版本的ubuntu？谢谢。
ros2_humble UBuntu 2022.04.5 在这之前已经完成第六章6.5.1的全部内容，有所不同的是我是自己在solidworks中建的模，并使用插件导出urdf，并加载turtlebot3 的世界文件。在xacro中添加了ros2_control插件代码(以及config/robot_ros2_control.yaml)后启动，有如下输出013d5233-eb22-49a5-8c91-81c6b1edf675-image.png ros2_control.xacro:46b6d284-83e3-4b42-b76d-93f173dc8ae9-image.png robot_ros2_control.yaml:bcb4ff96-1a2e-4917-ad28-dd81fdb8fee1-image.png gazebo.launch.py:41ac4ff7-0548-4911-ac55-4d00cafbde38-image.png .在解决了没有启动robot_state_publisher节点；排除了yaml内容，以及世界文件加载错误后，还是有以上问题。但是在依次小尝试，在main.xacro注释了最后一行文件引入后191cbd99-a2db-4231-a738-521117b787fc-image.png 重新编译，启动、取消注释、重新编译、启动后有如下输出5323869d-0e17-4bf5-84ac-19c97955fd14-image.png f13f0d83-9432-4287-ae84-94e119371386-image.png 虽然问题已近解决，但是我仍然不知道问题在哪里
谢谢小鱼。之前在u盘上安装默认的22.04运行很好。现在想问一下是否可以安装24.04版本的ubuntu？谢谢。
你好，鱼香 ROS 社区
我最近发布了【ros2-docs-l10n】项目：
🚀 预览翻译：ros2-docs-l10n 🌐 Crowdin：ros2-docs-l10n 🐙 GitHub：ros2-docs-l10n 🐱 GitCode：ros2-docs-l10n这个项目是透过 Sphinx 内建的【国际化】功能生成可翻译的 .po 文件，然后上传到 Crowdin 平台让翻译者能够方便地进行翻译，并且还可以透过 GitHub Pages 预览目前翻译的进度。
5aff9db7-6c70-4d33-abe8-fc6dfad74b95-Screenshot_20250927_151546.png
47edba43-cb72-405c-a0aa-315315c9de4e-Screenshot_20250927_151057.png
虽然目前鱼香 ROS 有制作【ROS2 中文文档】，但是它应该是采用【直接翻译 .rst 源文件】的方式进行维护。老实说这种维护方式相当耗费人力。因为维护者除了要进行【翻译】以外，每当上游原文出现内容更动或大范围的结构重构时，还得负责【同步】更新内容。而且，目前 ROS2 官方文档的最新版本已经更新到 Kilted 版本了，但是【ROS2 中文文档】却还停留在 Humble 版本。
我相信我所制作的这个【ros2-docs-l10n】项目能够提供更效率的翻译模式。因此，我在这边想邀请鱼香 ROS 的【翻译团队】有没有兴趣参与贡献【简体中文】的翻译呢？
root@cq-virtual-machine:/opt/ros/humble# colcon build
Starting >>> ament_package
Starting >>> ament_lint
Starting >>> gtest_vendor
Starting >>> gtest
Starting >>> ament_pycodestyle
Starting >>> ament_cppcheck
Starting >>> osrf_pycommon
Starting >>> google_benchmark_vendor
[2.564s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_package' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.564s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_package' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.568s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_lint' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.568s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_lint' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.586s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_pycodestyle' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.586s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_pycodestyle' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.593s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_cppcheck' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.595s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_cppcheck' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.599s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'osrf_pycommon' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.599s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'osrf_pycommon' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
--- stderr: gtest_vendor
CMake Error: The source directory "/opt/ros/humble/share/gtest_vendor" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.
Starting >>> ament_package
Starting >>> ament_lint
Starting >>> gtest_vendor
Starting >>> gtest
Starting >>> ament_pycodestyle
Starting >>> ament_cppcheck
Starting >>> osrf_pycommon
Starting >>> google_benchmark_vendor
[2.564s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_package' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.564s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_package' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.568s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_lint' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.568s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_lint' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.586s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_pycodestyle' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.586s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_pycodestyle' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.593s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_cppcheck' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.595s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_cppcheck' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.599s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'osrf_pycommon' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.599s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'osrf_pycommon' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
--- stderr: gtest_vendor
CMake Error: The source directory "/opt/ros/humble/share/gtest_vendor" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.
Failed <<< gtest_vendor [0.12s, exited with code 1]
Aborted <<< google_benchmark_vendor [0.10s]
Aborted <<< ament_package [0.14s]
Aborted <<< ament_cppcheck [0.11s]
Aborted <<< ament_lint [0.13s]
Aborted <<< ament_pycodestyle [0.12s]
Aborted <<< osrf_pycommon [0.11s]
Aborted <<< gtest [0.34s]
Summary: 0 packages finished [2.78s]
1 package failed: gtest_vendor
7 packages aborted: ament_cppcheck ament_lint ament_package ament_pycodestyle google_benchmark_vendor gtest osrf_pycommon
2 packages had stderr output: google_benchmark_vendor gtest_vendor
290 packages not processed
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="gazebo_sensor_plugin">
<gazebo reference="laser_link">
<sensor name="laserscan" type="ray">
<plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
</robot>，然后问题“[ERROR] [gzserver-4]: process has died [pid 15574, exit code -11, cmd 'gzserver /home/wheeltec/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room4.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].”经测试，注释imu部分后gazebo中正常显示，可能是imu频率高了，所以，想问是这个问题吗？然后这个频率设置多少合适？
Traceback (most recent call last):
File "/tmp/fishinstall/install.py", line 134, in <module>
main()
File "/tmp/fishinstall/install.py", line 123, in main
run_tool_file(tools[code]['tool'].replace("/","."))
File "/tmp/fishinstall/tools/base.py", line 1518, in run_tool_file
tool = importlib.import_module(file.replace(".py","")).Tool()
AttributeError: module 'tools.tool_config_system_source' has no attribute 'Tool'
Docker 安装ros1 noetic 小乌龟能出现，但是运行小乌龟控制的终端（rosrun turtlesim turtle_teleop_key）按方向键直接卡死，鼠标移动到小海龟窗口上也会卡死+闪退
学习3.学会面向对象编程-封装IMU驱动章节
ea239b09-4d2a-4d1f-99d1-93cc28c23cb7-image.png
串口监视器截图
有ROS1的学习资源吗
在platform.ini文件下，使用espidf框架，无法安装需要的依赖包
背景：
我想创建MicroROS节点并实现ESP32与ROS2动⼿实践部分的通信，使用的是espidf框架，我看小鱼的使用的是arduino框架。
问题描述：在.ini文件里写入依赖时，总是输出没法找到这个包，查阅大模型发现这个micro-ROS/micro_ros_platformio包只在arduino框架下有预编译包，尝试许多办法都还是没法解决。
具体细节和上下文：这是我的.ini文件源码[env:esp32-s3-devkitc-1]
platform = espressif32
board = esp32-s3-devkitc-1
framework = espidf
monitor_speed = 115200
lib_deps =
micro-ROS/micro_ros_platformio
这是报错：
Resolving esp32-s3-devkitc-1 dependencies...
Library Manager: Installing micro-ROS/micro_ros_platformio
UnknownPackageError: Could not find the package with 'micro-ROS/micro_ros_platformio' requirements for your system 'windows_amd64'
基础环境：
ubuntu 24.04
ros2-jazzy
gazebo-Harmonic
目的：
我在学习本站的【ROS2机器人入门到实战】-Gazebo仿真插件之两轮差速章节中遇到问题，在gazebo中导入模型正常，利用键盘控制模型原地移动正常，在rviz2中模型有显示，但只有轮子在转动，模型不动。fixed frame选项中没有odom。
gz终端显示如下：
/d2lros2/chapt8_ws$ ros2 launch fishbot_description gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/gao/.ros/log/2025-09-17-09-30-35-733771-gao-ThinkPad-L430-8131
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gazebo_sim-1]: process started with pid [8135]
[INFO] [robot_state_publisher-2]: process started with pid [8136]
[INFO] [spawn_entity-3]: process started with pid [8137]
[INFO] [joint_state_publisher-4]: process started with pid [8138]
[INFO] [gz_pose_to_tf-5]: process started with pid [8139]
[robot_state_publisher-2] [WARN] [1758072636.096789654] [kdl_parser]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1758072636.097000628] [robot_state_publisher]: Robot initialized
[gazebo_sim-1] Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
[spawn_entity-3] [INFO] [1758072636.593876496] [ros_gz_sim]: Requesting list of world names.
[joint_state_publisher-4] [INFO] [1758072637.327276699] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[gz_pose_to_tf-5] [INFO] [1758072637.482055366] [gz_pose_to_tf]: 节点启动成功，等待Gazebo位姿数据...
[spawn_entity-3] [INFO] [1758072637.685053793] [ros_gz_sim]: Waiting messages on topic [robot_description].
[spawn_entity-3] [INFO] [1758072637.690700850] [ros_gz_sim]: Entity creation successful.
[INFO] [spawn_entity-3]: process has finished cleanly [pid 8137]
[INFO] [parameter_bridge-6]: process started with pid [8310]
[parameter_bridge-6] [INFO] [1758072641.079410242] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/cmd_vel (geometry_msgs/msg/Twist) -> /cmd_vel (gz.msgs.Twist)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.094205656] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/odom (gz.msgs.Odometry) -> /odom (nav_msgs/msg/Odometry)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.102399569] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/joint_states (gz.msgs.Model) -> /joint_states (sensor_msgs/msg/JointState)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.124001464] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/fishbot_base/tf (gz.msgs.Pose_V) -> /model/fishbot_base/tf (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.135632301] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
ros2 topic list
/clicked_point
/clock
/cmd_vel
/goal_pose
/initialpose
/joint_states
/model/fishbot_base/tf
/odom
/parameter_events
/robot_description
/rosout
/tf
/tf_static
/world/default/pose/info
ros2 topic info /odom
Type: nav_msgs/msg/Odometry
Publisher count: 1
Subscription count: 0
gz topic -l
Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
/clock
/cmd_vel
/gazebo/resource_paths
/gui/camera/pose
/gui/currently_tracked
/gui/track
/joint_states
/model/fishbot_base/pose
/model/fishbot_base/tf
/odom
/stats
/world/empty/clock
/world/empty/dynamic_pose/info
/world/empty/pose/info
/world/empty/scene/deletion
/world/empty/scene/info
/world/empty/state
/world/empty/stats
/model/fishbot_base/enable
/world/empty/light_config
/world/empty/material_color
ros2 topic echo /odom
header:
stamp:
sec: 170
nanosec: 0
frame_id: odom
child_frame_id: base_footprint
pose:
pose:
position:
x: -4.028614228463498e-13
y: 1.2847207709729211e-12
z: 0.0
orientation:
x: 0.0
y: -0.0
z: -0.39562289102470527
w: -0.9184130487407364
covariance:
twist:
twist:
linear:
x: -3.8191672047105385e-12
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -0.6726808822151984
covariance: 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
header:
stamp:
sec: 170
nanosec: 20000000
frame_id: odom
child_frame_id: base_footprint
pose:
pose:
position:
x: -4.5447697525525446e-13
y: 1.2308509718320058e-12
z: 0.0
orientation:
x: 0.0
y: -0.0
z: -0.3894359976925846
w: -0.9210535292268204
covariance:
twist:
twist:
linear:
x: -3.730349362740526e-12
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -0.6726808822145794
covariance: 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
gz topic -t /odom -i
Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
Publishers [Address, Message Type]:
tcp://172.17.0.1:42837, gz.msgs.Odometry
Subscribers [Address, Message Type]:
tcp://172.17.0.1:37283, gz.msgs.Odometry
gz topic -t /odom -e
Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
header {
stamp {
sec: 200
nsec: 920000000
}
data {
key: "frame_id"
value: "odom"
}
data {
key: "child_frame_id"
value: "base_footprint"
}
}
pose {
position {
x: 2.5211883694718938e-12
y: -1.8125757217106408e-13
}
orientation {
z: -0.53805043015990317
w: 0.84291264945114175
}
}
twist {
linear {
x: -1.0658141036401503e-12
}
angular {
z: -0.672680882209628
}
}
header {
stamp {
sec: 200
nsec: 940000000
}
data {
key: "frame_id"
value: "odom"
}
data {
key: "child_frame_id"
value: "base_footprint"
}
}
pose {
position {
x: 2.5138206233728475e-12
y: -1.650941404351984e-13
}
orientation {
z: -0.54370832631104715
w: 0.83927424355811131
}
}
twist {
linear {
x: -8.8817841970012523e-13
}
angular {
z: -0.67268088220839006
}
}
header {
stamp {
sec: 200
nsec: 960000000
}
data {
key: "frame_id"
value: "odom"
}
data {
key: "child_frame_id"
value: "base_footprint"
}
}
pose {
position {
x: 2.5059541819667771e-12
y: -1.4720778384187288e-13
}
orientation {
z: -0.54934161977662233
w: 0.83559786068490927
}
}
twist {
linear {
x: -1.0658141036401503e-12
}
angular {
z: -0.672680882209628
}
}
launch文件：
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess, TimerAction
from launch_ros.substitutions import FindPackageShare
import os
def generate_launch_description():
# 获取包路径和URDF
pkg_share = FindPackageShare('fishbot_description').find('fishbot_description')
urdf_path = os.path.join(pkg_share, 'urdf', 'fishbot_base.urdf')
urdf文件：
<?xml version="1.0"?>
<robot name="fishbot_base">
<!--2025-07-14修改，
ros2 launch fishbot_description gazebo.launch.py 在gz中显示-->
<!-- Robot Footprint -->
<gazebo>
<plugin filename='libgz-sim8-diff-drive-system.so' name='gz::sim::systems::DiffDrive'>
</gazebo>
<!-- ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimROS2ControlHardware</plugin>
</hardware>
<joint name="left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control -->
<link name="base_footprint">
<!-- 这是一个虚拟链接，不需要几何形状 --> <inertial> <mass value="0.001"/> <!-- 极小质量 --> <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/> </inertial></link>
<joint name="base_footprint_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
</joint>
<!--joint name="base_link_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="0 0 0.033" rpy="0 0 0"/>
</joint -->
<!-- base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.10"/>
</geometry>
<material name="white">
<color rgba="1.0 1.0 1.0 0.5 " />
</material>
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.10"/>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
<material name="white">
<color rgba="1.0 1.0 1.0 0.5 " />
</material>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.012" ixy="0" ixz="0" iyy="0.012" iyz="0" izz="0.02"/>
</inertial>
<gazebo reference="base_link">
<turnGravityOff>false</turnGravityOff>
<dampingFactor>0.1</dampingFactor>
</gazebo>
</link>
<ros>
<!-- 指定为当前模型发布 TF -->
<ros2_interface_config>joint_pressure</ros2_interface_config>
<ros2_interface_config>model_pose</ros2_interface_config>
<!-- 或者更精细的控制 -->
<!-- <namespace>/</namespace> -->
</ros>
<!-- laser joint -->
<joint name="laser_joint" type="fixed">
<parent link="base_link" />
<child link="laser_link" />
<origin xyz="0 0 0.075" />
</joint>
<!-- laser link -->
<link name="laser_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.00019" ixy="0" ixz="0" iyy="0.00019" iyz="0" izz="0.00036"/>
</inertial>
</link>
<link name="left_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.033"/>
</geometry>
<material name="wheel_color">
<color rgba="0.8 0.1 0.1 1.0 " />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.033"/>
</geometry>
</link>
<link name="right_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.033"/>
</geometry>
<material name="wheel_color">
<color rgba="0.8 0.1 0.1 1.0 " />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.033"/>
</geometry>
<material name="wheel_color">
<color rgba="0.8 0.1 0.1 1.0 " />
</material>
<surface>
<friction>
<ode>
<mu>1.0</mu> <!-- 摩擦系数 -->
<mu2>1.0</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<slip1>0.1</slip1>
<slip2>0.1</slip2>
</ode>
</friction>
</surface>
</link>
<joint name="left_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="left_wheel_link"/>
<origin xyz="-0.02 0.144 -0.059" rpy="1.57079 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" velocity="10.0" lower="-3.14" upper="3.14"/>
</joint>
<joint name="right_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="right_wheel_link"/>
<origin xyz="-0.02 -0.144 -0.059" rpy="1.57079 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" velocity="10.0" lower="-3.14" upper="3.14"/>
</joint>
<link name="imu_link">
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<topic>imu</topic>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</link>
<!-- imu joint -->
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
<origin xyz="0 0 0.02" />
</joint>
<link name="caster_link">
<visual>
<origin xyz="0 0 0" rpy="1.57079 0 0"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="1.57079 0 0"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.00019" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/>
</inertial>
</link>
<joint name="caster_joint" type="fixed">
<parent link="base_link" />
<child link="caster_link" />
<origin xyz="0.06 0.0 -0.076" />
<axis xyz="0 1 0" />
</joint>
<gazebo reference="caster_link">
<material>Gazebo/Black</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="1000000.0" />
<kd value="100.0" />
<!-- <fdir1 value="0 0 1"/> -->
</gazebo>
</robot>
问题出在哪里？如何修改？
[ERROR] [rviz2-3]: process has died [pid 11768, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/abc/桌面/ros2bookcode/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/rviz/display_model.rviz --ros-args'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
NAV2中的局部规划器默认是DWB，但是对阿克曼这种车型不太友好，想使用TEB
但是呢，怎么去进行替换又是一个问题，有没有大佬可以指点一下
c038bd2b-6a29-4f22-916e-55e96d4b7697-截图 2025-09-15 11-01-10.png
100a8a570e4267b04944bce9e1c48941.png 有大佬知道这个问题怎么解决吗，现在试过重装px4 重装gazebo了，但都没用，无论是make px4_sitl gazebo还是图片上这个都报错，但是能在jmavsim上仿真。
妫€娴嬪埌绋嬪簭鍙戠敓寮傚父閫€鍑猴紝璇锋墦寮€锛歨ttps://fishros.org.cn/forum 鎼哄甫濡備笅鍐呭杩涜鍙嶉
鏍囬锛氫娇鐢ㄤ竴閿畨瑁呰繃绋嬩腑閬囧埌绋嬪簭宕╂簝
Traceback (most recent call last): File "/tmp/fishinstall/install.py", line 134, in <module> main() File "/tmp/fishinstall/install.py", line 123, in main run_tool_file(tools[code]['tool'].replace("/",".")) File "/tmp/fishinstall/tools/base.py", line 1478, in run_tool_file if tool.run()==False: return False File "/tmp/fishinstall/tools/tool_install_ros.py", line 417, in run self.install_ros() File "/tmp/fishinstall/tools/tool_install_ros.py", line 404, in install_ros self.check_sys_source() File "/tmp/fishinstall/tools/tool_install_ros.py", line 220, in check_sys_source tool.change_sys_source() File "/tmp/fishinstall/tools/tool_config_system_source.py", line 302, in change_sys_source source = self.replace_source(failed_sources) File "/tmp/fishinstall/tools/tool_config_system_source.py", line 294, in replace_source FileUtils.new('/etc/apt/','sources.list',template.replace("<code-name>",codename).replace('<sources>',source)) File "/tmp/fishinstall/tools/base.py", line 1222, in new with open(path+name,"w") as f: PermissionError: [Errno 13] Permission denied: '/etc/apt/sources.list'鏈杩愯璇︾粏鏃ュ織鏂囦欢宸蹭繚瀛樿嚦 /tmp/fishros_install.log
ModuleNotFoundError: No module named 'demo_python_pkg.python_node'这个报错怎么解决啊 第二章反复跟着做的
02f29b05-5673-4138-bf6a-a25d7b266a56-5bcdc4cb26684e464e6683cbea4aed83.jpg
在运行小鱼课程的fishbot的led灯点亮、imu测量、超声波测量等项目考录到esp32后，OLED显示屏就不亮了。
这是什么原因，怎么修复？
---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)
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]
[-][0.18s] 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]
[-][0.12s] 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]
[-][0.14s] 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ubuntu20.04:focal 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:1
RUN Choose Task:[请输入括号内的数字]
请选择换源方式,如果不知道选什么请选2
[1]:仅更换系统源
[2]:更换系统源并清理第三方源
0:quit
请输入[]内的数字以选择:2
Run CMD Task:[sudo rm -rf /etc/apt/sources.list]
[-][0.00s] CMD Result:success
删除一个资源文件
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d]
[-][0.00s] CMD Result:success
Run CMD Task:[sudo mkdir -p /etc/apt/sources.list.d]
[-][0.00s] CMD Result:success
源选择方式说明:
自动测速选择最快的源: 系统将自动测试各个源的速度，并选择最快的源 根据测速结果手动选择源: 系统将测试各个源的速度，然后让您从测试结果中选择RUN Choose Task:[请输入括号内的数字]
请选择源的选择方式
[1]:自动测速选择最快的源
[2]:根据测速结果手动选择源
0:quit
请输入[]内的数字以选择:1
Run CMD Task:[dpkg --print-architecture]
[-][0.01s] CMD Result:success
检测到当前系统:ubuntu 架构:arm64 代号:focal,正在为你搜索适合的源...
搜索到可用源:['https://ports.ubuntu.com/ubuntu-ports', 'https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports', 'https://ports.ubuntu.com/ubuntu-ports', 'https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports', 'http://ports.ubuntu.com/ubuntu-ports', 'http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports', 'http://ports.ubuntu.com/ubuntu-ports', 'http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports']
接下来将进行自动测速以为您选择最快的源:
为您选择最快镜像源:https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports
创建文件:/etc/apt/sources.list
替换镜像源完成，尝试进行更新....
Run CMD Task:[sudo apt update]
[-][3.95s] CMD Result:success
搞定了,不信你看,累死宝宝了，还不快去给小鱼点个赞~
['Hit:1 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal InRelease', 'Hit:2 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-updates InRelease', 'Hit:3 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-backports InRelease', 'Hit:4 https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports focal-security InRelease', 'Reading package lists...', 'Building dependency tree...', 'Reading state information...', "143 packages can be upgraded. Run 'apt list --upgradable' to see them."]
镜像更新完成.....
============正在添加ROS源密钥=================
Run CMD Task:[sudo apt update]
[-][4.18s] CMD Result:success
Run CMD Task:[sudo apt search curl ]
[-][1.37s] CMD Result:success
Run CMD Task:[sudo apt install curl -y]
[-][1.33s] CMD Result:code:100
Run CMD Task:[sudo apt search gnupg2 ]
[-][1.30s] CMD Result:success
Run CMD Task:[sudo apt install gnupg2 -y]
[-][1.42s] CMD Result:code:100
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:0.15s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc 延时:0.48s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 -]
[-][0.28s] CMD Result:code:255
Run CMD Task:[curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -]
[-][0.28s] CMD Result:code:255
Run CMD Task:[sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654]
[-][0.21s] CMD Result:code:255
导入密钥失败，开始更换导入方式并二次尝试...
Run CMD Task:[sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654]
[-][0.30s] CMD Result:code:255
Run CMD Task:[dpkg --print-architecture]
[-][0.01s] CMD Result:success
根据您的系统，为您推荐安装源为['http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/', 'http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/']
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][4.04s] 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 ros-base ]
[-][1.40s] CMD Result:success
换源后更新失败，第二次开始切换源，尝试更换ROS2源为华为源！
根据您的系统，为您推荐安装源为['https://repo.huaweicloud.com/ros/ubuntu/', 'https://repo.huaweicloud.com/ros2/ubuntu/']
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d/ros-fish.list]
[-][0.00s] CMD Result:success
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][4.52s] 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 ros-base ]
[-][1.40s] CMD Result:success
换源后更新失败，第三次开始切换源，尝试使用https-ROS官方源～！
根据您的系统，为您推荐安装源为['https://packages.ros.org/ros/ubuntu/', 'https://packages.ros.org/ros2/ubuntu/']
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d/ros-fish.list]
[-][0.00s] CMD Result:success
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][1.80s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [/][1.80s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [/][1.90s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [/][2.00s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [/][2.10s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [/][2.20s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [][2.31s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.31s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.40s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.50s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.60s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.70s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.80s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][2.90s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.00s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.10s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.21s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.31s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.41s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.51s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.61s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.71s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.81s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [|][3.91s] Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error [-][4.11s] 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 ros-base ]
[-][1.40s] CMD Result:success
换源后更新失败，第四次开始切换源，尝试更换ROS源为http-ROS官方源！
根据您的系统，为您推荐安装源为['http://packages.ros.org/ros/ubuntu/', 'http://packages.ros.org/ros2/ubuntu/']
Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d/ros-fish.list]
[-][0.00s] CMD Result:success
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][4.41s] 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 ros-base ]
[-][1.40s] CMD Result:success
Run CMD Task:[sudo apt update]
[-][4.32s] CMD Result:code:100
apt更新失败,后续程序可能会继续尝试...,[]
四次换源后都失败了，请及时联系小鱼获取解决方案并处理！
Run CMD Task:[sudo apt search ros-base ]
[-][1.33s] CMD Result:success
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
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