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  学习资源 社区运营 一键安装 FishROS2GO
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  A

  ---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:

  https://ports.ubuntu.com/ubuntu-ports 延时:0.70s https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports 延时:0.04s https://ports.ubuntu.com/ubuntu-ports 延时:0.70s https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports 延时:0.04s http://ports.ubuntu.com/ubuntu-ports 延时:0.71s http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports 延时:0.04s http://ports.ubuntu.com/ubuntu-ports 延时:0.67s http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports 延时:0.05s
  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

• 产品&店铺

  鱼香ROS 店铺&产品相关问题

  FishBot二驱机器人 FishBot四驱机器人V2 多协议传输控制器
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  X

  @harebert 看看https://fishros.org.cn/forum/topic/1027/%E5%8A%A8%E6%89%8B%E5%AD%A6ros2%E7%AC%AC5%E7%AB%A0%E8%BF%9B%E9%98%B6%E7%AF%87-%E6%8E%A7%E5%88%B6oled-%E8%87%AA%E5%AE%9A%E4%B9%89%E6%B6%88%E6%81%AF%E6%8E%A5%E5%8F%A3/10，确认下package.xml配置中是不是添加了rosidl依赖。不行再试试看https://github.com/micro-ROS/micro_ros_platformio/issues/115#issuecomment-1704675014。去掉ros2的环境变量source。

• VIP问答专区

  针对社区VIP用户问答专区

  68
  主题
  263
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  5

  标题：[nav2导航时，局部地图异常偏移，导致导航失败] 问题描述：

  [自己用gazebo创建了个环境，用nav2进行导航， 给定目标点后，小车在行走过程中，局部膨胀地图随着激光雷达出现了偏移，将路线给挡住了，导致导航失败]

  具体细节和上下文：

  1,机器人的仿真模型是根据鱼哥的视频一步步走下来的；
  2.我的param.yaml对全局和局部的配置如下：
  2.1 全局配置：
  global_costmap:
  global_costmap:
  ros__parameters:
  update_frequency: 2.0 #1.0
  publish_frequency: 1.0
  global_frame: map
  robot_base_frame: base_footprint
  use_sim_time: True
  # robot_radius: 0.2
  footprint: "[[0.325,-0.275],[0.325,0.275],[-0.325,0.275],[-0.325,-0.275]]"
  resolution: 0.05
  track_unknown_space: true
  plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
  obstacle_layer:
  plugin: "nav2_costmap_2d::ObstacleLayer"
  enabled: True
  observation_sources: scan
  scan:
  topic: /scan
  max_obstacle_height: 2.0
  clearing: True
  marking: True
  data_type: "LaserScan"
  raytrace_max_range: 3.0
  raytrace_min_range: 0.0
  obstacle_max_range: 2.5
  obstacle_min_range: 0.0
  static_layer:
  plugin: "nav2_costmap_2d::StaticLayer"
  map_subscribe_transient_local: True
  inflation_layer:
  plugin: "nav2_costmap_2d::InflationLayer"
  cost_scaling_factor: 6.0 #3.0
  inflation_radius: 0.35 #0.15
  always_send_full_costmap: True

  2.2 局部配置：
  local_costmap:
  local_costmap:
  ros__parameters:
  update_frequency: 2.0 #2.0 #5.0
  publish_frequency: 0.5 #2.0
  global_frame: odom
  robot_base_frame: base_footprint
  use_sim_time: True
  rolling_window: true
  width: 5 #3
  height: 5 #3
  resolution: 0.02 #0.05
  robot_radius: 0.46 #robot_radius: 0.2
  footprint: "[[0.325,-0.275],[0.325,0.275],[-0.325,0.275],[-0.325,-0.275]]"
  plugins: ["voxel_layer", "inflation_layer"]
  inflation_layer:
  plugin: "nav2_costmap_2d::InflationLayer"
  cost_scaling_factor: 6.0 #3.0
  inflation_radius: 0.45 #0.35 # 0.2 #0.15
  obstacle_layer:
  plugin: "nav2_costmap_2d::ObstacleLayer"
  enabled: True
  observation_sources: scan
  scan:
  topic: /scan
  max_obstacle_height: 2.0
  clearing: True
  marking: True
  data_type: "LaserScan"
  raytrace_max_range: 3.0
  raytrace_min_range: 0.0
  obstacle_max_range: 2.5
  obstacle_min_range: 0.0
  voxel_layer:
  plugin: "nav2_costmap_2d::VoxelLayer"
  enabled: True
  publish_voxel_map: True
  origin_z: 0.0
  z_resolution: 0.05
  z_voxels: 16
  max_obstacle_height: 2.0
  mark_threshold: 0
  observation_sources: scan
  scan:
  topic: /scan
  max_obstacle_height: 2.0
  clearing: True
  marking: True
  data_type: "LaserScan"
  raytrace_max_range: 3.0
  raytrace_min_range: 0.0
  obstacle_max_range: 2.5
  obstacle_min_range: 0.0
  static_layer:
  plugin: "nav2_costmap_2d::StaticLayer"
  map_subscribe_transient_local: True
  always_send_full_costmap: True

  出现异常的图片：
  a818fc44-b97e-41dc-8db9-ba8c1c59aa45-image.png 尝试过的解决方法：

  我尝试将全局和局部地图的更新频率设置成一样的，但是没有效果。不知道是什么原因，求大佬帮忙分析下。

• ROS2机器人开发：从入门到实践

  《ROS2机器人开发：从入门到实践》书籍配套资料答疑专区

  ROS 2相关问题
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  1

  /* Get all possible data from MPU6050 * Accelerometer values are given as multiple of the gravity [1g = 9.81 m/s²] * Gyro values are given in deg/s * Angles are given in degrees * Note that X and Y are tilt angles and not pitch/roll. * * License: MIT */ #include <Arduino.h> #include <micro_ros_platformio.h> #include <WiFi.h> #include <rcl/rcl.h> #include <rclc/rclc.h> #include <rclc/executor.h> #include "Wire.h" #include <MPU6050_light.h> #include <Esp32McpwmMotor.h> #include <Esp32PcntEncoder.h> #include "geometry_msgs/msg/twist.h" //消息接口 #include "PidController.hpp" #include "Kinematics.hpp" //定义一些与micro相关的结构体对象 rcl_allocator_t allocator; //用于内存分配 rclc_support_t support; //用于存储时钟，为内存分配器和上下文提供支持 rclc_executor_t executor; //用于管理订阅和计时器回调的执行 rcl_node_t node; //节点 rcl_subscription_t sub_cmd_vel; //订阅者 geometry_msgs__msg__Twist msg_cmd_vel; //消息对象 Esp32McpwmMotor motor; Esp32PcntEncoder encoder[2]; // 两个编码器 MyPidController pidcontroller[2]; Kinematics kinematics; float out_line_speed = 50; // mm/s float out_angle_speed = 0.1; // '/s 弧度每秒 float left_speed = 0; float right_speed = 0; // int64_t pre_time = 0; // int64_t last_ticks[2] = {0, 0}; // int64_t delta_tick[2] = {0, 0}; // float current_speed[2] = {0, 0}; void twist_callback(const void *msgin) { const geometry_msgs__msg__Twist *msg = (const geometry_msgs__msg__Twist *)msgin; // 线速度 out_line_speed = msg->linear.x * 1000; // m/s 转化成 mm/s // 角速度 out_angle_speed = msg->angular.z; // 弧度每秒 //计算目标线速度角速度下的左右轮速度 kinematics.kinematics_inverse(out_line_speed, out_angle_speed, &left_speed, &right_speed); Serial.printf("Target speed: {left motor speed: %f, right motor speed: %f}\n", left_speed, right_speed); pidcontroller[0].update_target(left_speed); //设置目标速度, 这里为0.15m/s pidcontroller[1].update_target(right_speed); //设置目标速度 } //pid测试函数 // void motoSpeedControl() { // // //获取当前轮上速度 // int64_t dt = millis() - pre_time; //ms // pre_time = millis(); // delta_tick[0] = encoder[0].getTicks() - last_ticks[0]; // delta_tick[1] = encoder[1].getTicks() - last_ticks[1]; // current_speed[0] = delta_tick[0] * 0.103233 / dt * 1000; //mm/s // current_speed[1] = delta_tick[1] * 0.103233 / dt * 1000; // last_ticks[0] = encoder[0].getTicks(); // last_ticks[1] = encoder[1].getTicks(); // pre_time = millis(); // //调用pid控制器计算输入电机的占空比, update函数返回一个小数，但是这里要求输入整形，因此这里会对float进行截断 // motor.updateMotorSpeed(0, (int16_t) pidcontroller[0].update(current_speed[0])); // motor.updateMotorSpeed(1, (int16_t) pidcontroller[1].update(current_speed[1])); // } // 线程处理函数，用于处理micro-ros的任务 void micro_ros_task(void *arg) { // 1.设置传输协议，建立连接 IPAddress agent_ip; //即上位机的ip agent_ip.fromString("192.168.0.191"); // 连接wifi set_microros_wifi_transports("super", "88888888", agent_ip, 8888); delay(3000); // 2.初始化内存分配器 allocator = rcl_get_default_allocator(); // 3.初始化rclc支持结构体 rclc_support_init(&support, 0, NULL, &allocator); // 4.创建节点 rclc_node_init_default(&node, "fishbot_motor_control", "", &support); // 5.初始化执行器 unsigned int num_handles = 1; // 订阅者和定时器的数量 rclc_executor_init(&executor, &support.context, num_handles, &allocator); // 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"); rclc_executor_add_subscription(&executor, &sub_cmd_vel, &msg_cmd_vel, &twist_callback, ON_NEW_DATA); // 6.进入循环，处理micro-ros任务 rclc_executor_spin(&executor); } void setup() { Serial.begin(115200); //初始化电机和编码器 motor.attachMotor(0, 22, 23); // 电机1连接到引脚22和23 motor.attachMotor(1, 12, 13); // 电机2连接到引脚12和13 encoder[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接 encoder[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接 //pid控制器初始化 pidcontroller[0].update_pid(0.625, 0.125, 0); //设置PID参数 pidcontroller[1].update_pid(0.625, 0.125, 0); //设置PID参数 pidcontroller[0].out_limit(-100, 100); //设置输出限制 pidcontroller[1].out_limit(-100, 100); //设置输出限制 //设置运动学参数初始化 kinematics.set_motor_param(0, 0.103233); //左轮每个脉冲对应的距离 kinematics.set_motor_param(1, 0.103233); //右轮每个脉冲对应的距离 kinematics.set_wheel_distance(175.0); //轮间距175mm //计算目标线速度角速度下的左右轮速度 kinematics.kinematics_inverse(out_line_speed, out_angle_speed, &left_speed, &right_speed); Serial.printf("Target speed: {left motor speed: %f, right motor speed: %f}\n", left_speed, right_speed); pidcontroller[0].update_target(left_speed); pidcontroller[1].update_target(right_speed); // 创建一个任务来处理micro-ros的通信 // 以下两种方式使用过后均导致小车重启 xTaskCreate(micro_ros_task, "microros_task", 10240, NULL, 1, NULL); // xTaskCreatePinnedToCore(micro_ros_task, "microros_task", 10240, NULL, 1, NULL, 1); } void loop() { delay(10); //pid测试 // motoSpeedControl(); // Serial.printf("Current speed: {left motor speed: %f, right motor speed: %f}\n", // current_speed[0], current_speed[1]); kinematics.update_motor_speed(millis(), encoder[0].getTicks(), encoder[1].getTicks()); //调用pid控制器计算输入pwm的占空比, update函数返回一个小数，但是这里要求输入整形，因此这里会对float进行截断 motor.updateMotorSpeed(0, (int16_t) pidcontroller[0].update(kinematics.get_motor_speed(0))); motor.updateMotorSpeed(1, (int16_t) pidcontroller[1].update(kinematics.get_motor_speed(1))); // 打印两轮速度 // Serial.printf("Current speed: {left motor speed: %f, right motor speed: %f}\n", // kinematics.get_motot_speed(0), kinematics.get_motot_speed(1)); // 打印里程计信息 Serial.printf("Odom: {x: %f, y: %f, angle: %f}\n", kinematics.get_odom().x, kinematics.get_odom().y, kinematics.get_odom().angle); }

  已经测试过，使用这条语句xTaskCreate(micro_ros_task, "microros_task", 10240, NULL, 1, NULL);添加任务后，板子运行一小段时间就会自动重启，注释掉这条语句板子的能正常运行并且功能正常。

  重启时串口打印信息如下：

  Odom: {x: 0.172388, y: 0.032440, angle: 0.361021} Odom: {x: 0.172919, y: 0.032642, angle: 0.362791} Odom: {x: 0.173449, y: 0.032844, angle: 0.364560} Odom: {x: 0.173931, y: 0.033029, angle: 0.365740} Guru Meditation Error: Core 0 panic'ed (IllegalInstruction). Exception was unhandled. Core 0 register dump: PC : 0x6d6f682f PS : 0x00060530 A0 : 0x801451f9 A1 : 0x3ffb4830 A2 : 0x3ffcd378 A3 : 0x3ffb4930 A4 : 0x00000018 A5 : 0x3ffb486f A6 : 0x3ffcd411 A7 : 0x00000054 A8 : 0x8015943c A9 : 0x3ffb47f0 A10 : 0x3ffc3f78 A11 : 0x3ffb4930 A12 : 0x00000018 A13 : 0x00000001 A14 : 0x00000000 A15 : 0x00000001 SAR : 0x0000001b EXCCAUSE: 0x00000000 EXCVADDR: 0x00000000 LBEG : 0x400899d0 LEND : 0x400899e6 LCOUNT : 0xffffffff Backtrace: 0x6d6f682c:0x3ffb4830 |<-CORRUPTED ELF file SHA256: 69f1953c41a5adb4 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 Target speed: {left motor speed: 41.250000, right motor speed: 58.750000} Odom: {x: 0.000619, y: 0.000000, angle: 0.000000} Odom: {x: 0.001239, y: 0.000000, angle: 0.000000} Odom: {x: 0.001910, y: 0.000001, angle: 0.001770} Odom: {x: 0.002323, y: 0.000002, angle: 0.001770} Odom: {x: 0.002736, y: 0.000003, angle: 0.002950} Odom: {x: 0.003097, y: 0.000004, angle: 0.003539} Odom: {x: 0.003355, y: 0.000005, angle: 0.004129} Odom: {x: 0.003665, y: 0.000007, angle: 0.005309}

  该问题与这篇问题帖子所描述情况相同，并且无法通过修改num_handles为1来解决。

  大佬帮忙看看，Thanks♪(･ω･)ﾉ！！！

• 综合问题

  综合问题讨论版块 | 版主 @吴凯荣 @小鱼

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  82cecbce-a0b0-4a07-81cd-ef4dfcb3a072-image.png

  ROS2: Humble
  Arch: Arm64
  Ubuntu: 22.04
  Gazebo Version: Gazebo Fortress

  已经提问过AI，但还是无法解决

  ~/Desktop/mysh ❯ ros2 launch sim_world import_sim_world.launch.py                                                                                                              13:24:47 [INFO] [launch]: All log files can be found below /home/orin/.ros/log/2025-09-11-13-24-51-165552-jetson-1385478 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ign gazebo-1]: process started with pid [1385506] [ign gazebo-1] [Wrn] [Conversions.cc:722] <gui><camera> can't be converted yet [ign gazebo-1] [Dbg] [gz.cc:161] Subscribing to [/gazebo/starting_world]. [ign gazebo-1] [Dbg] [gz.cc:163] Waiting for a world to be set from the GUI... [ign gazebo-1] [Msg] Received world [/home/orin/ros2_ws/install/sim_world/share/sim_world/worlds/custom_room.world] from the GUI. [ign gazebo-1] [Dbg] [gz.cc:167] Unsubscribing from [/gazebo/starting_world]. [ign gazebo-1] [Msg] Ignition Gazebo Server v6.17.0 [ign gazebo-1] [Msg] Loading SDF world file[/home/orin/ros2_ws/install/sim_world/share/sim_world/worlds/custom_room.world]. [ign gazebo-1] [Msg] Serving entity system service on [/entity/system/add] [ign gazebo-1] [Msg] Loaded level [3] [ign gazebo-1] [Msg] No systems loaded from SDF, loading defaults [ign gazebo-1] [Dbg] [ServerConfig.cc:1043] Loaded (3) plugins from file [/home/orin/.ignition/gazebo/6/server.config] [ign gazebo-1] [Dbg] [Physics.cc:804] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/aarch64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so] [ign gazebo-1] [Dbg] [SystemManager.cc:73] Loaded system [gz::sim::systems::Physics] for entity [1] [ign gazebo-1] [Msg] Create service on [/world/default/create] [ign gazebo-1] [Msg] Remove service on [/world/default/remove] [ign gazebo-1] [Msg] Pose service on [/world/default/set_pose] [ign gazebo-1] [Msg] Pose service on [/world/default/set_pose_vector] [ign gazebo-1] [Msg] Light configuration service on [/world/default/light_config] [ign gazebo-1] [Msg] Physics service on [/world/default/set_physics] [ign gazebo-1] [Msg] SphericalCoordinates service on [/world/default/set_spherical_coordinates] [ign gazebo-1] [Msg] Enable collision service on [/world/default/enable_collision] [ign gazebo-1] [Msg] Disable collision service on [/world/default/disable_collision] [ign gazebo-1] [Msg] Material service on [/world/default/visual_config] [ign gazebo-1] [Msg] Material service on [/world/default/wheel_slip] [ign gazebo-1] [Dbg] [SystemManager.cc:73] Loaded system [gz::sim::systems::UserCommands] for entity [1] [ign gazebo-1] [Dbg] [SystemManager.cc:73] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [ign gazebo-1] [Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control] [ign gazebo-1] [Msg] Serving GUI information on [/world/default/gui/info] [ign gazebo-1] [Msg] World [default] initialized with [default_physics] physics profile. [ign gazebo-1] [Msg] Serving world SDF generation service on [/world/default/generate_world_sdf] [ign gazebo-1] [Msg] Serving world names on [/gazebo/worlds] [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:242:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add].[Msg] Ignition Gazebo GUI    v6.17.0 [ign gazebo-1] [Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]... [ign gazebo-1] [Dbg] [Application.cc:92] Initializing application. [ign gazebo-1] [GUI] [Dbg] [Application.cc:555] Create main window [ign gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get] [ign gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient. [ign gazebo-1] [GUI] [Dbg] [PathManager.cc:55] Received resource paths. [ign gazebo-1] [GUI] [Dbg] [Gui.cc:391] Requesting GUI from [/world/default/gui/info]... [ign gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/default/state]... [ign gazebo-1] [GUI] [Msg] Loading config [/home/orin/.ignition/gazebo/6/gui.config] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [MinimalScene] [ign gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [EntityContextMenuPlugin] [ign gazebo-1] [GUI] [Msg] Added plugin [Entity Context Menu] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [GzSceneManager] [ign gazebo-1] [GUI] [Msg] Added plugin [Scene Manager] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [InteractiveViewControl] [ign gazebo-1] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control] [ign gazebo-1] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual] [ign gazebo-1] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity] [ign gazebo-1] [GUI] [Msg] Added plugin [Interactive view control] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [CameraTracking] [ign gazebo-1] [GUI] [Msg] Added plugin [Camera tracking] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so] [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [MarkerManager] [ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats] [ign gazebo-1] [GUI] [Msg] Added plugin [Marker Manager] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [SelectEntities] [ign gazebo-1] [GUI] [Msg] Added plugin [Select entities] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Spawn] [ign gazebo-1] [GUI] [Msg] Added plugin [Spawn] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [VisualizationCapabilities] [ign gazebo-1] [GUI] [Msg] View as transparent service on [/gui/view/transparent] [ign gazebo-1] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes] [ign gazebo-1] [GUI] [Msg] View center of mass service on [/gui/view/com] [ign gazebo-1] [GUI] [Msg] View inertia service on [/gui/view/inertia] [ign gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions] [ign gazebo-1] [GUI] [Msg] View joints service on [/gui/view/joints] [ign gazebo-1] [GUI] [Msg] View frames service on [/gui/view/frames] [ign gazebo-1] [GUI] [Msg] Added plugin [Visualization capabilities] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl] [ign gazebo-1] [GUI] [Msg] Using world control service [/world/default/control] [ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats] [ign gazebo-1] [GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server [ign gazebo-1] [GUI] [Msg] Added plugin [World control] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libWorldControl.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats] [ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/default/stats] [ign gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window [ign gazebo-1] [Wrn] [Model.hh:69] [Wrn] [Model.hh:69] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.with //pose/@relative_to attribute. [ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.with //pose/@relative_to attribute.Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have `operator<<`. Component will not be serialized. [ign gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... } [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x" [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libWorldStats.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes] [ign gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Lights] [ign gazebo-1] [GUI] [Msg] Added plugin [Lights] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl] [ign gazebo-1] [GUI] [Dbg] [TransformControl.cc:222] Legacy mode is disabled; this plugin must be used with MinimalScene. [ign gazebo-1] [GUI] [Msg] Added plugin [Transform control] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [Screenshot] [ign gazebo-1] [GUI] [Msg] Screenshot service on [/gui/screenshot] [ign gazebo-1] [GUI] [Msg] Added plugin [Screenshot] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/aarch64-linux-gnu/ign-gui-6/plugins/libScreenshot.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [CopyPaste] [ign gazebo-1] [GUI] [Msg] Added plugin [Copy/Paste] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [ComponentInspector] [ign gazebo-1] [GUI] [Msg] Added plugin [Component inspector] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [EntityTree] [ign gazebo-1] [GUI] [Msg] Added plugin [Entity tree] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/aarch64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so] [ign gazebo-1] [GUI] [Dbg] [Application.cc:296] Loading window config [ign gazebo-1] [GUI] [Msg] Using server control service [/server_control] [ign gazebo-1] [GUI] [Dbg] [Application.cc:569] Applying config [ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2] [ign gazebo-1] [GUI] [Dbg] [MinimalScene.cc:602] Create scene [scene] [ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
• 机械臂力控板块

  机械臂力控板块 | 版主： @陆门马

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  400f79ff-8a2f-4584-b099-ffe7dbc31462.jpeg

  机械臂，遥操作+加力反馈，如何实现？

  遥操作：通过手柄，手机，或者任何形式的“遥控器”遥控机械臂的运动。最简单的形式就是以一个机械臂（主臂）遥控另一个机械臂（从臂）。

  力反馈：当从臂碰到障碍物时，主臂可以以力的形式感受到这个障碍物，所谓“感受”就是操作者感受到主臂的力。

  代码：https://gitee.com/qingqing-gaq/feel_force.git

  视频：https://www.bilibili.com/video/BV1KoEqzyEFR/?vd_source=36451ca805358187c4a0efa1c5694b35

  我的实现思路：
  软件：rso2
  硬件：双通道usb转can模块，六个达妙4310电机。

  六个电机，组成两个三自由度机械臂。一个can通道控制一个机械臂。

  大体逻辑：
  主臂时重力补偿模式，因为只有重力补偿才能任意拖动。主臂把实时的关节位置，发送给从臂，因此从臂必然是位置控制模式，这样才能跟踪主臂的位置。
  那么主臂如何感受从臂的力呢？这里就需要电机有力矩接口了（达妙电机的mit模式），当从臂电机受到阻力时，pid控制力就会变大，电机反馈会的力也会变大，这个变大的值就是阻力了。把这个力反馈给主臂即可。
  程序运行逻辑：
  23467808-ec76-44af-b4b5-f339ae8f85d4.png
  操作逻辑的代码：

  std::cout << "JointPositionControl::execute..............." << std::endl; //从对应的can接收线程中读取电机状态，并更新到机械臂类储存关节状态的变量（下面会用到）中 arm->update_current_joint_states();//一定要在get_current_joint_states()之前执行 arm2->update_current_joint_states();//一定要在get_current_joint_states()之前执行 //从机械臂类里返回储存关节状态的变量 const auto &curret_joint_states = arm->get_current_joint_states(); const auto &curret_joint_states2 = arm2->get_current_joint_states(); //根据当前的关节状态，计算逆动力学，进行重力补偿。 arm->computeInverseDynamics(arm->current_joint_positions, arm->current_joint_velocities, arm->current_joint_acceleration, arm->gravity_joint_tauqes); arm2->computeInverseDynamics(arm2->current_joint_positions, arm2->current_joint_velocities, arm2->current_joint_acceleration, arm2->gravity_joint_tauqes); std::vector<float> pos1(arm->getDof(), 0.0f); std::vector<float> pos2(arm->getDof(), 0.0f); std::vector<float> vel(arm->getDof(), 0.0f); std::vector<float> vel2(arm->getDof(), 0.0f); std::vector<float> tor(arm->getDof(), 0.0f); std::vector<float> tor2(arm2->getDof(), 0.0f); for (size_t i = 0; i < arm->getDof(); i++) { if(i==2) {//三号电机转向和模型相反，所以要单独加一个负号 tor[i] = -arm->gravity_joint_tauqes(i);//发送给主臂的重力补偿力矩 tor2[i] = -arm2->gravity_joint_tauqes(i);//发送给从臂的重力补偿力矩 } else { tor[i] = arm->gravity_joint_tauqes(i);//发送给主臂的重力补偿力矩 tor2[i] = arm2->gravity_joint_tauqes(i);//发送给主臂的重力补偿力矩 } //主臂的关节速度，发送给从臂 vel2[i] = 0.10 * curret_joint_states.at(i).velocity; // 系数越大手感越硬。 //主臂的关节位置，发送给从臂 pos2[i] = curret_joint_states.at(i).position; } float torque_threshold = 0.04f; // 设置阈值 //从臂受到的阻力，返回给主臂 for (size_t i = 0; i < arm->getDof(); i++) { if (std::abs(curret_joint_states2.at(i).torque) > torque_threshold) { tor[i] += -0.5 * (curret_joint_states2.at(i).torque - tor2[i]); // 如果超过阈值，按原逻辑计算 } else { tor[i] += 0.0f; // 否则赋值为 0 } } // pos2[0] = 0; tor2[0] = 0; arm->send_joint_states(pos1, vel, tor);//向主臂发送关节的状态 arm2->send_joint_states(pos2, vel2, tor2);//向从臂发送关节的状态

  其中：主臂位置发送给从臂的逻辑好理解。

  pos2[i] = curret_joint_states.at(i).position; //curret_joint_states.at(i).position：主臂的实时关节位置 //pos2[i]：发送给从臂的关节位置

  这一句是从臂的力矩反馈给主臂。有一步操作是从臂反馈的力矩减去了重力补偿力矩，这是因为，反馈的电机力矩是pid产生的。这个pid产生的控制力矩就包含重力力矩，如果把这个力也算上发送给主臂，那主臂就会变的很称，因为从臂把重力也传过来了。

  tor[i] += -0.5 * (curret_joint_states2.at(i).torque - tor2[i]); //tor[i]： 发送给主臂的关节力矩 //curret_joint_states2.at(i).torque：从臂电机反馈会来的力矩 //tor2[i]：发送给从臂的重力补偿力矩。 //-0.5：缩放系数

  这个if判断的作用是，避免从臂传来的力一直在小幅度波动，只有从臂反馈的力大于一个值，这个力才会被加载到主臂上。

  float torque_threshold = 0.04f; // 设置阈值 //从臂受到的阻力，返回给主臂 for (size_t i = 0; i < arm->getDof(); i++) { if (std::abs(curret_joint_states2.at(i).torque) > torque_threshold) { tor[i] += -0.5 * (curret_joint_states2.at(i).torque - tor2[i]); // 如果超过阈值，按原逻辑计算 } else { tor[i] += 0.0f; // 否则赋值为 0 } }

  这又是一个神奇的操作。就是让从臂有期望速度。作用就是会影响操作手感。

  vel2[i] = 0.10 * curret_joint_states.at(i).velocity; // 系数越大手感越硬。

  ok这就是整个的实现逻辑，非常简陋。

  程序框架简介：https://zwf9l1z0bm3.feishu.cn/docx/Ee3EdW8meoy79uxzBQVcXe11nfh?from=from_copylink
  qq交流群：523255719

• 历史归档板块

  移动机器人制作 机器人相关领域 机械臂运动规划
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  @kangkang-li ；解决了，谢谢大佬