hwhsu1231H

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？

文档资料
Q
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.

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

综合问题
T

<?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">

<ros> <namespace>/</namespace> <remapping>~/out:=scan</remapping> </ros> <output_type>sensor_msgs/LaserScan</output_type> <frame_name>laser_link</frame_name> </plugin> <always_on>true</always_on> <visualize>true</visualize> <update_rate>5</update_rate> <pose>0 0 0 0 0 0</pose> <ray> <scan> <horizontal> <samples>360</samples> <resolution>1.000000</resolution> <min_angle>0.000000</min_angle> <max_angle>6.280000</max_angle> </horizontal> </scan> <range> <min>0.120000</min> <max>5.0</max> <resolution>0.015000</resolution> </range> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.01</stddev> </noise> </ray> </sensor> </gazebo> <!--IMU--> <!-- <gazebo reference="imu_link"> <sensor name="imu_sensor" type="imu"> <plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so"> <ros> <namespace>/</namespace> <remapping>~/out:=imu</remapping> </ros> <initial_orientation_as_reference>false</initial_orientation_as_reference> </plugin> <update_rate>100</update_rate> <always_on>true</always_on> <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> </gazebo> --> <!--camera--> <gazebo reference="camera_link"> <sensor type="depth" name="camera_sensor"> <plugin name="depth_camera" filename="libgazebo_ros_camera.so"> <frame_name>camera_optical_link</frame_name> </plugin> <always_on>true</always_on> <update_rate>10</update_rate> <camera name="camera"> <horizontal_fov>1.5009831567</horizontal_fov> <image> <width>800</width> <height>600</height> <format>R8G8B8</format> </image> <distortion> <k1>0.0</k1> <k2>0.0</k2> <k3>0.0</k3> <p1>0.0</p1> <p2>0.0</p2> <center>0.5 0.5</center> </distortion> </camera> </sensor> </gazebo> </xacro:macro>

</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？

ROS2机器人开发：从入门到实践
N

使用了movit2 控制电机，但是在每一次的write过程中，由于上一次的控制几乎已经完成，突然拉升速度，导致电机很抖动。请问这是什么情况该怎么办呢？

手眼标定
Y

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'

动手学ROS2
K

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

综合问题
1

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

ROS2机器人开发：从入门到实践
1

有ROS1的学习资源吗

文档资料
熬
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'

尝试过的解决方法： 我尝试换成lib_deps = https://gitee.com/ohhuo/micro_ros_platformio.git 以及在虚拟机上ubuntu系统重新新建也还是报错[env:esp32-s3-devkitc-1] platform = espressif32 board = esp32-s3-devkitc-1 framework = espidf monitor_speed = 115200 lib_deps = micro-ROS/micro_ros_platformioResolving 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 'linux_x86_64'
MicroROS
6

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:

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
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:

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
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')

with open(urdf_path, 'r') as f: robot_desc = f.read() return LaunchDescription([ # Gazebo仿真 ExecuteProcess( cmd=['gz', 'sim', '-r', 'empty.sdf'], output='screen', name='gazebo_sim' ), # 机器人状态发布 Node( package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', parameters=[{ 'robot_description': robot_desc, 'publish_frequency': 50.0, 'use_tf_static': True, # 启用静态TF 'use_sim_time': True }] ), # 生成机器人模型 ExecuteProcess( cmd=['ros2', 'run', 'ros_gz_sim', 'create', '-topic', 'robot_description'], output='screen', name='spawn_entity' ), Node( package='joint_state_publisher', executable='joint_state_publisher', name='joint_state_publisher', parameters=[{ 'source_list': ['/joint_states'], # 监听Gazebo发布的关节状态 'use_sim_time': True, 'rate': 50, 'use_sim_time': True }] ), Node( package='fishbot_description', executable='gz_pose_to_tf', # 需要创建此Python脚本 name='gz_pose_to_tf', parameters=[{'use_sim_time': True}], output='screen' ), #Node( #package='tf2_ros', #executable='tf2_echo', #arguments=['odom', 'base_link'], #name='tf_debug', #output='screen' #), #Node( #package='tf2_ros', #executable='static_transform_publisher', #arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_footprint'], #name='static_odom_tf_publisher', #parameters=[{'use_sim_time': True}] #), # 延时启动的ROS-Gazebo桥接 TimerAction( period=5.0, # 延迟5秒 actions=[ Node( package='ros_gz_bridge', executable='parameter_bridge', arguments=[ '/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist', '/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry', '/joint_states@sensor_msgs/msg/JointState[gz.msgs.Model', '/model/fishbot_base/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V' , '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock' # 同步时钟 ], output='screen', #name='gz_bridge' ) ] ) ])

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'>

<update_rate>30</update_rate> <!-- wheels --> <left_joint>left_wheel_joint</left_joint> <right_joint>right_wheel_joint</right_joint> <wheel_separation>0.287</wheel_separation> <wheel_radius>0.033</wheel_radius> <!-- limits --> <!--max_linear_acceleration>1.0</max_linear_acceleration--> <min_velocity>-1.0</min_velocity> <max_velocity>1.0</max_velocity> <min_acceleration>-1.0</min_acceleration> <max_acceleration>1.0</max_acceleration> <!-- 通信设置 --> <topic>/cmd_vel</topic> <odom_topic>/odom</odom_topic> <frame_id>odom</frame_id> <child_frame_id>base_footprint</child_frame_id> <!--robot_base_frame>base_footprint</robot_base_frame> <odom_frame>odom</odom_frame--> <publish_odom>true</publish_odom> <!-- 确保发布里程计 --> <publish_odom_tf>true</publish_odom_tf> <!-- 确保发布TF变换 --> <publish_wheel_tf>true</publish_wheel_tf> <odometry_frame>/odom</odometry_frame> <!-- 里程计坐标系 --> <robot_base_frame>base_footprint</robot_base_frame> <!-- 机器人基坐标系 --> <odometry_source>world</odometry_source> <!-- 里程计数据源 --> <!-- 发布频率 --> <odom_publisher_frequency>30</odom_publisher_frequency> <!--tf_topic>/tf</tf_topic> <publish_odom_tf>true</publish_odom_tf> <publish_odom>true</publish_odom> <odom_publisher_frequency>30</odom_publisher_frequency> <publish_wheel_tf>true</publish_wheel_tf> <publish_link_pose>true</publish_link_pose> <publish_nested_model_pose>false</publish_nested_model_pose--> <!-- odom_frame>odom</odom_frame --> <!-- robot_base_frame>base_link</robot_base_frame --> <!-- publish_odom>true</publish_odom> <publish_wheel_tf>true</publish_wheel_tf --> </plugin> <plugin filename="libgz-sim8-joint-state-publisher-system.so" name="gz::sim::systems::JointStatePublisher"> <!--update_rate>30</update_rate --> <topic>joint_states</topic> <joint_name>right_wheel_joint</joint_name> <joint_name>left_wheel_joint</joint_name> </plugin> <plugin filename="libgz-sim8-pose-publisher-system.so" name="gz::sim::systems::PosePublisher"> <publish_model_pose>true</publish_model_pose> <update_rate>30</update_rate> <topic>/model/fishbot_base/pose</topic> </plugin> <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"> </plugin>

</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>

<sensor name="hls_lfcd_lds" type="gpu_lidar"> <always_on>true</always_on> <visualize>true</visualize> <update_rate>5</update_rate> <pose>-0.064 0 0.121 0 0 0</pose> <topic>scan</topic> <gz_frame_id>base_scan</gz_frame_id> <lidar> <scan> <horizontal> <samples>360</samples> <resolution>1.000000</resolution> <min_angle>0.000000</min_angle> <max_angle>6.280000</max_angle> </horizontal> </scan> <range> <min>0.120000</min> <max>3.5</max> <resolution>0.015000</resolution> </range> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.01</stddev> </noise> </lidar> </sensor>

</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>

<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> </collision> <inertial> <mass value="0.5"/> <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.002"/> </inertial>

</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>

</collision> <inertial> <mass value="0.5"/> <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.002"/> </inertial>

</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>

<visual> <origin xyz="0 0 0.0" rpy="0 0 0"/> <geometry> <box size="0.02 0.02 0.02"/> </geometry> </visual> <collision> <origin xyz="0 0 0.0" rpy="0 0 0"/> <geometry> <box size="0.02 0.02 0.02"/> </geometry> </collision> <inertial> <mass value="1"/> <inertia ixx="0.00019" ixy="0" ixz="0" iyy="0.00019" iyz="0" izz="0.00036"/> </inertial>

</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？

ROS 2相关问题
3

[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)

机器人学
1

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

Nav2
L

c038bd2b-6a29-4f22-916e-55e96d4b7697-截图 2025-09-15 11-01-10.png

ROS 2相关问题
C

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。

仿真
1

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

ROS2机器人开发：从入门到实践
J

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

综合问题
M

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？

FishBot二驱机器人
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

一键安装
M

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]
综合问题
8

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_config_rosdep.py", line 94, in run
self.install_rosdepc()
File "/tmp/fishinstall/tools/tool_config_rosdep.py", line 85, in install_rosdepc
PrintUtils.print_warning("安装失败，尝试使用其他方式安装...")
AttributeError: type object 'PrintUtils' has no attribute 'print_warning'

一键安装
紧急通知：禁止一切关于政治&VPN翻墙等话题，发现相关帖子会立马删除封号
 提问前必看的发帖注意事项： 社区问答规则(小鱼个人)更新 | 高质量帖子发布指南

版块

  • 社区运营&开源工具

    学习资源 社区运营 一键安装 FishROS2GO
    1.4k
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    2

    (base) lu@lu:~$ roscore
    ... logging to /home/lu/.ros/log/8f30dde8-9c3b-11f0-82d4-d558dad04297/roslaunch-lu-32414.log
    Checking log directory for disk usage. This may take a while.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.

    RLException: Invalid <param> tag: Cannot load command parameter [rosversion]: command [['rosversion', 'roslaunch']] returned with code [1].

    Param xml is <param name="rosversion" command="rosversion roslaunch"/>
    The traceback for the exception was written to the log file

  • 462
    主题
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    小鱼小

    @2251581333 在 [FishBot教程] 9.0.5. 雷达固件烧录及配置 中说：

    烧录的时候说芯片不对，怎么解决呀鱼哥

    2023-04-08 07:37:37 > 准备从https://www.fishros.org.cn/forum/assets/uploads/files/1673413115955-fishbot_laser_control_v1.0.0.230111.bin下载固件到/dev/ttyUSB0对应芯片为esp8266
    2023-04-08 07:37:37 > 准备从网址下载固件...
    2023-04-08 07:37:39 >
    2023-04-08 07:37:39 > --2023-04-08 07:37:36-- https://www.fishros.org.cn/forum/assets/uploads/files/1673413115955-fishbot_laser_control_v1.0.0.230111.bin
    2023-04-08 07:37:39 > Resolving www.fishros.org.cn (www.fishros.org.cn)... 124.222.2.110
    2023-04-08 07:37:39 > Connecting to www.fishros.org.cn (www.fishros.org.cn)|124.222.2.110|:443... connected.
    2023-04-08 07:37:39 > HTTP request sent, awaiting response... 200 OK
    2023-04-08 07:37:39 > Length: 532320 (520K) [application/octet-stream]
    2023-04-08 07:37:39 > Saving to: ‘esp8266.bin’
    2023-04-08 07:37:39 >
    2023-04-08 07:37:39 > 固件下载完成！
    2023-04-08 07:37:39 > 开始烧录固件...
    2023-04-08 07:37:39 > esptool.py v4.4
    2023-04-08 07:37:39 > Serial port /dev/ttyUSB0
    2023-04-08 07:37:39 > Connecting....
    2023-04-08 07:37:39 >
    2023-04-08 07:37:39 > A fatal error occurred: This chip is ESP32 not ESP8266. Wrong --chip argument?
    2023-04-08 07:37:39 >
    2023-04-08 07:37:39 >
    2023-04-08 07:37:39 > [错误]固件写入失败，请检查日志或重试。。。

    @1178152552

  • 针对社区VIP用户问答专区

    68
    主题
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    帖子

    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》书籍配套资料答疑专区

    ROS 2相关问题
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    K

    原因是之前启动的/joint_state_publisher 节点没有关闭，导致时间同步出问题。
    把这个节点的进程关掉再启动就可以了。
    但是/joint_state_publisher 节点为什么没有关闭，我不清楚。。请@小鱼 回答一下呢。。

  • 综合问题讨论版块 | 版主 @吴凯荣 @小鱼

    1.0k
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    Q

    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.

    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

  • 机械臂力控板块 | 版主： @陆门马

    5
    主题
    11
    帖子

    24310882892

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

    机械臂，遥操作+加力反馈，如何实现？

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

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

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

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

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

    六个电机，组成两个三自由度机械臂。一个can通道控制一个机械臂。

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

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

    其中：主臂位置发送给从臂的逻辑好理解。

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

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

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

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

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

    这又是一个神奇的操作。就是让从臂有期望速度。作用就是会影响操作手感。

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

    ok这就是整个的实现逻辑，非常简陋。

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

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    使用了movit2 控制电机，但是在每一次的write过程中，由于上一次的控制几乎已经完成，突然拉升速度，导致电机很抖动。请问这是什么情况该怎么办呢？

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