老师，我这里开了键盘输入，然后代码是原封不动的鱼香ros提供的代码，但是我没法控制机器动，f56940c6-e6c5-4937-bcc6-227d09487d1a-c43ed2b8-1013-4a35-b3c9-4ae30ea9eff4.png d3bea439-7044-4318-a557-11233233b194-7cdbcecb-cb87-40b4-959f-b716cd0a277a.png 114154e3-7795-4b4b-9129-0bd1fd5017b5-56db2c3e-c174-4636-9dd4-ea5f42ddf497.png

0b14437c-e976-4f19-a6ce-9a33387b038e-a5349fc582242f2ccd3d6c7556cadece.png
c106a42f-95e7-43bb-81dc-aa4263ca0b6d-df83bd2d32a0c35621c9adae579cf061.png
ROS2第七章，NAV2导航，小车走到这个位置就走不动了，这是什么原因？
巡航目标点为（-4.5，1.5，1.57）时，就卡在这不动了

标题：[清晰而简洁地总结您的问题] 问题描述：

[我在humble上编译nav2的源码时编译报了一个错误， nav2版本时humble]

具体细节和上下文： [robot@robot-hp:~/project/test_nav2$ ls
build install log src
robot@robot-hp:~/project/test_nav2$
robot@robot-hp:~/project/test_nav2$ colcon build
[0.503s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces:
'nav2_util' is in: /opt/ros/humble
'nav2_core' is in: /opt/ros/humble
'nav2_msgs' is in: /opt/ros/humble
'nav2_costmap_2d' is in: /opt/ros/humble
'nav2_map_server' is in: /opt/ros/humble
'nav2_common' is in: /opt/ros/humble
If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:
--allow-overriding nav2_common nav2_core nav2_costmap_2d nav2_map_server nav2_msgs nav2_util

This may be promoted to an error in a future release of colcon-override-check.
Starting >>> nav2_common
Starting >>> nav_2d_msgs
Finished <<< nav2_common [0.47s]
Starting >>> nav2_msgs
Starting >>> nav2_voxel_grid
Finished <<< nav2_voxel_grid [0.26s]
Finished <<< nav_2d_msgs [0.88s]
Starting >>> dwb_msgs
Finished <<< nav2_msgs [1.01s]
Starting >>> nav2_util
Starting >>> nav2_simple_commander
Finished <<< dwb_msgs [0.92s]
Finished <<< nav2_util [0.41s]
Starting >>> nav2_lifecycle_manager
Starting >>> nav2_map_server
Starting >>> nav_2d_utils
Starting >>> nav2_behavior_tree
Starting >>> nav2_amcl
Starting >>> nav2_velocity_smoother
Finished <<< nav2_velocity_smoother [0.20s]
Finished <<< nav2_lifecycle_manager [0.24s]
Starting >>> nav2_rviz_plugins
Finished <<< nav2_amcl [0.28s]
Finished <<< nav_2d_utils [0.31s]
Finished <<< nav2_map_server [0.33s]
Starting >>> nav2_costmap_2d
Finished <<< nav2_rviz_plugins [0.21s]
Finished <<< nav2_costmap_2d [0.60s]
Starting >>> nav2_core
Starting >>> costmap_queue
Starting >>> nav2_collision_monitor
Finished <<< nav2_core [0.11s]
Starting >>> dwb_core
Starting >>> nav2_controller
Starting >>> nav2_regulated_pure_pursuit_controller
Starting >>> nav2_constrained_smoother
Starting >>> nav2_mppi_controller
Starting >>> nav2_navfn_planner
Starting >>> nav2_planner
Starting >>> nav2_smac_planner
Starting >>> nav2_smoother
Starting >>> nav2_theta_star_planner
Starting >>> nav2_waypoint_follower
Finished <<< nav2_simple_commander [1.63s]
[Processing: costmap_queue, dwb_core, nav2_behavior_tree, nav2_collision_monitor, nav2_constrained_smoother, nav2_controller, nav2_mppi_controller, nav2_navfn_planner, nav2_planner, nav2_regulated_pure_pursuit_controller, nav2_smac_planner, nav2_smoother, nav2_theta_star_planner, nav2_waypoint_follower]
[Processing: costmap_queue, dwb_core, nav2_behavior_tree, nav2_collision_monitor, nav2_constrained_smoother, nav2_controller, nav2_mppi_controller, nav2_navfn_planner, nav2_planner, nav2_regulated_pure_pursuit_controller, nav2_smac_planner, nav2_smoother, nav2_theta_star_planner, nav2_waypoint_follower]
--- stderr: nav2_constrained_smoother
In file included from /usr/include/eigen3/Eigen/src/Core/util/ConfigureVectorization.h:346,
from /usr/include/eigen3/Eigen/Core:22,
from /usr/include/ceres/internal/fixed_array.h:33,
from /usr/include/ceres/internal/array_selector.h:38,
from /usr/include/ceres/internal/autodiff.h:148,
from /usr/include/ceres/autodiff_cost_function.h:130,
from /usr/include/ceres/ceres.h:37,
from /home/robot/project/test_nav2/src/navigation2/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother_cost_function.hpp:27,
from /home/robot/project/test_nav2/src/navigation2/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp:29,
from /home/robot/project/test_nav2/src/navigation2/nav2_constrained_smoother/include/nav2_constrained_smoother/constrained_smoother.hpp:26,
from /home/robot/project/test_nav2/src/navigation2/nav2_constrained_smoother/src/constrained_smoother.cpp:23:
In function ‘__m128d _mm_mul_pd(__m128d, __m128d)’,
inlined from ‘Packet Eigen::internal::pmul(const Packet&, const Packet&) [with Packet = __vector(2) double]’ at /usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:347:113,
inlined from ‘Packet Eigen::internal::scalar_product_op<LhsScalar, RhsScalar>::packetOp(const Packet&, const Packet&) const [with Packet = __vector(2) double; LhsScalar = double; RhsScalar = double]’ at /usr/include/eigen3/Eigen/src/Core/functors/BinaryFunctors.h:83:26,
inlined from ‘PacketType Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>, Eigen::internal::IndexBased, Eigen::internal::IndexBased>::packet(Eigen::Index, Eigen::Index) const [with int LoadMode = 16; PacketType = __vector(2) double; BinaryOp = Eigen::internal::scalar_product_op<double, double>; Lhs = const Eigen::Matrix<double, 2, 1>; Rhs = const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> >]’ at /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:782:31,
inlined from ‘PacketType Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>, Eigen::internal::IndexBased, Eigen::internal::IndexBased>::packet(Eigen::Index, Eigen::Index) const [with int LoadMode = 16; PacketType = __vector(2) double; BinaryOp = Eigen::internal::scalar_product_op<double, double>; Lhs = const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >; Rhs = const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> >]’ at /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:782:80,
inlined from ‘PacketType Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>, Eigen::internal::IndexBased, Eigen::internal::IndexBased>::packet(Eigen::Index, Eigen::Index) const [with int LoadMode = 16; PacketType = __vector(2) double; BinaryOp = Eigen::internal::scalar_product_op<double, double>; Lhs = const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >; Rhs = const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> >]’ at /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:782:80,
inlined from ‘PacketType Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>, Eigen::internal::IndexBased, Eigen::internal::IndexBased>::packet(Eigen::Index, Eigen::Index) const [with int LoadMode = 16; PacketType = __vector(2) double; BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Lhs = const Eigen::Matrix<double, 2, 1>; Rhs = const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >]’ at /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:783:80,
inlined from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignPacket(Eigen::Index, Eigen::Index) [with int StoreMode = 16; int LoadMode = 16; PacketType = __vector(2) double; DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, 2, 1> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > > > >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:675:116,
inlined from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignPacketByOuterInner(Eigen::Index, Eigen::Index) [with int StoreMode = 16; int LoadMode = 16; PacketType = __vector(2) double; DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, 2, 1> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > > > >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:689:48,
inlined from ‘static void Eigen::internal::copy_using_evaluator_innervec_CompleteUnrolling<Kernel, Index, Stop>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 2, 1> >, Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > > > >, Eigen::internal::assign_op<double, double>, 0>; int Index = 0; int Stop = 2]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:279:85,
inlined from ‘static void Eigen::internal::dense_assignment_loop<Kernel, 2, 2>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 2, 1> >, Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > > > >, Eigen::internal::assign_op<double, double>, 0>]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:489:99,
inlined from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, 2, 1>; SrcXprType = Eigen::CwiseBinaryOp<scalar_sum_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > > >; Functor = assign_op<double, double>]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:785:37,
inlined from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, 2, 1>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > > >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:954:31,
inlined from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<double, 2, 1>; Src = Eigen::CwiseBinaryOp<scalar_sum_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > > >; Func = assign_op<double, double>]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:890:49,
inlined from ‘Derived& Eigen::PlainObjectBase<Derived>::_set_noalias(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > > >; Derived = Eigen::Matrix<double, 2, 1>]’ at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:797:41,
inlined from ‘Eigen::PlainObjectBase<Derived>::PlainObjectBase(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > > >; Derived = Eigen::Matrix<double, 2, 1>]’ at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:594:19,
inlined from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::EigenBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > >, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 1> > > >; _Scalar = double; int _Rows = 2; int _Cols = 1; int _Options = 0; int _MaxRows = 2; int _MaxCols = 1]’ at /usr/include/eigen3/Eigen/src/Core/Matrix.h:423:29,
inlined from ‘void nav2_constrained_smoother::Smoother::upsampleAndPopulate(const std::vector<Eigen::Matrix<double, 3, 1> >&, const std::vector<bool, std::allocator<bool> >&, const Eigen::Vector2d&, const Eigen::Vector2d&, const nav2_constrained_smoother::SmootherParams&, std::vector<Eigen::Matrix<double, 3, 1> >&)’ at /home/robot/project/test_nav2/src/navigation2/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp:331:84,
inlined from ‘bool nav2_constrained_smoother::Smoother::smooth(std::vector<Eigen::Matrix<double, 3, 1> >&, const Eigen::Vector2d&, const Eigen::Vector2d&, const nav2_costmap_2d::Costmap2D*, const nav2_constrained_smoother::SmootherParams&)’ at /home/robot/project/test_nav2/src/navigation2/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp:119:24:
/usr/lib/gcc/x86_64-linux-gnu/12/include/emmintrin.h:275:46: error: ‘(__m128d)((char*)&prelast_dir + offsetof(Eigen::Vector2d, Eigen::Matrix<double, 2, 1, 0, 2, 1>::<unnamed>.Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 1, 0, 2, 1> >::<unnamed>.Eigen::MatrixBase<Eigen::Matrix<double, 2, 1, 0, 2, 1> >::<unnamed>.Eigen::DenseBase<Eigen::Matrix<double, 2, 1, 0, 2, 1> >::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1, 0, 2, 1>, 3>::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1, 0, 2, 1>, 1>::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1, 0, 2, 1>, 0>::<unnamed>))’ may be used uninitialized [-Werror=maybe-uninitialized]
275 | return (__m128d) ((__v2df)__A * (__v2df)__B);
| ^
/home/robot/project/test_nav2/src/navigation2/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp: In member function ‘bool nav2_constrained_smoother::Smoother::smooth(std::vector<Eigen::Matrix<double, 3, 1> >&, const Eigen::Vector2d&, const Eigen::Vector2d&, const nav2_costmap_2d::Costmap2D*, const nav2_constrained_smoother::SmootherParams&)’:
/home/robot/project/test_nav2/src/navigation2/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp:295:21: note: ‘(__m128d)((char*)&prelast_dir + offsetof(Eigen::Vector2d, Eigen::Matrix<double, 2, 1, 0, 2, 1>::<unnamed>.Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 1, 0, 2, 1> >::<unnamed>.Eigen::MatrixBase<Eigen::Matrix<double, 2, 1, 0, 2, 1> >::<unnamed>.Eigen::DenseBase<Eigen::Matrix<double, 2, 1, 0, 2, 1> >::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1, 0, 2, 1>, 3>::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1, 0, 2, 1>, 1>::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1, 0, 2, 1>, 0>::<unnamed>))’ was declared here
295 | Eigen::Vector2d prelast_dir;
| ^~~~~~~~~~~
cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/nav2_constrained_smoother.dir/build.make:76: CMakeFiles/nav2_constrained_smoother.dir/src/constrained_smoother.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:174: CMakeFiles/nav2_constrained_smoother.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< nav2_constrained_smoother [1min 19s, exited with code 2]
Aborted <<< nav2_navfn_planner [1min 22s]
Aborted <<< nav2_theta_star_planner [1min 23s]
Aborted <<< nav2_behavior_tree [1min 24s]
Aborted <<< costmap_queue [1min 23s]
Aborted <<< nav2_smoother [1min 29s]
Aborted <<< dwb_core [1min 30s]
Aborted <<< nav2_planner [1min 36s]
Aborted <<< nav2_regulated_pure_pursuit_controller [1min 47s]
Aborted <<< nav2_waypoint_follower [1min 54s]
Aborted <<< nav2_controller [2min 58s]
Aborted <<< nav2_collision_monitor [3min 20s]
Aborted <<< nav2_smac_planner [3min 26s]
Aborted <<< nav2_mppi_controller [3min 26s]

Summary: 15 packages finished [3min 29s]
1 package failed: nav2_constrained_smoother
13 packages aborted: costmap_queue dwb_core nav2_behavior_tree nav2_collision_monitor nav2_controller nav2_mppi_controller nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_smac_planner nav2_smoother nav2_theta_star_planner nav2_waypoint_follower
4 packages had stderr output: nav2_constrained_smoother nav2_planner nav2_smoother nav2_waypoint_follower
10 packages not processed
]

具体报错地点如下：
/usr/lib/gcc/x86_64-linux-gnu/12/include/emmintrin.h:275:46: error: ‘(__m128d)((char*)&prelast_dir + offsetof(Eigen::Vector2d, Eigen::Matrix<double, 2, 1, 0, 2, 1>::<unnamed>.Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 1, 0, 2, 1> >::<unnamed>.Eigen::MatrixBase<Eigen::Matrix<double, 2, 1, 0, 2, 1> >::<unnamed>.Eigen::DenseBase<Eigen::Matrix<double, 2, 1, 0, 2, 1> >::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1, 0, 2, 1>, 3>::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1, 0, 2, 1>, 1>::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1, 0, 2, 1>, 0>::<unnamed>))’ may be used uninitialized [-Werror=maybe-uninitialized]
275 | return (__m128d) ((__v2df)__A * (__v2df)__B);
| ^

尝试过的解决方法： [百度了之后没有好的方法。我又用了另一台电脑去编译，就能编译通过，不知道我的电脑是什么原因编不过。 之前编译是好的，过了一段时间再编译就编译失败了。]

[INFO] [launch]: All log files can be found below /home/he/.ros/log/2025-05-29-13-26-56-259421-LAPTOP-JOU4LQ3N-2380
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [2388]
[INFO] [gzserver-2]: process started with pid [2390]
[INFO] [gzclient-3]: process started with pid [2392]
[INFO] [spawn_entity.py-4]: process started with pid [2394]
[robot_state_publisher-1] [INFO] [1748496416.707483822] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1748496416.707566015] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1748496416.707571744] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1748496416.707574278] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1748496416.707576338] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1748496416.707578353] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1748496416.707580372] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1748496416.707582356] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1748496416.707584368] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1748496416.707586344] [robot_state_publisher]: got segment right_wheel_link
[spawn_entity.py-4] [INFO] [1748496416.986764997] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1748496416.987014599] [spawn_entity]: Loading entity published on topic /robot_description
[spawn_entity.py-4] [INFO] [1748496416.993543787] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1748496417.006607650] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1748496417.006803432] [spawn_entity]: Waiting for service /spawn_entity
[gzclient-3] Gazebo multi-robot simulator, version 11.10.2
[gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-3] Released under the Apache 2 License.
[gzclient-3] http://gazebosim.org
[gzclient-3]
[gzserver-2] Gazebo multi-robot simulator, version 11.10.2
[gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-2] Released under the Apache 2 License.
[gzserver-2] http://gazebosim.org
[gzserver-2]
[gzserver-2] [Wrn] [gazebo_ros_init.cpp:178]
[gzserver-2] # # ####### ####### ### ##### #######
[gzserver-2] ## # # # # # # # #
[gzserver-2] # # # # # # # # #
[gzserver-2] # # # # # # # # #####
[gzserver-2] # # # # # # # # #
[gzserver-2] # ## # # # # # # #
[gzserver-2] # # ####### # ### ##### #######
[gzserver-2]
[gzserver-2] This version of Gazebo, now called Gazebo classic, reaches end-of-life
[gzserver-2] in January 2025. Users are highly encouraged to migrate to the new Gazebo
[gzserver-2] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli)
[gzserver-2]
[gzserver-2]
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 10.255.255.254
[gzclient-3] [Wrn] [GuiIface.cc:120] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[spawn_entity.py-4] [INFO] [1748496421.021815504] [spawn_entity]: Calling service /spawn_entity
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 10.255.255.254
[gzserver-2] [Msg] Loading world file [/home/he/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [INFO] [1748496421.846991635] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
[gzserver-2] [INFO] [1748496421.847569316] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
[gzserver-2] [INFO] [1748496421.847876086] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
[spawn_entity.py-4] [INFO] [1748496421.908273983] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[gzserver-2] [INFO] [1748496422.022515430] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
[gzserver-2] [INFO] [1748496422.022568267] [diff_drive]: Wheel pair 1 diameter set to [0.064000m]
[gzserver-2] [INFO] [1748496422.023240626] [diff_drive]: Subscribed to [/cmd_vel]
[gzserver-2] [INFO] [1748496422.025433057] [diff_drive]: Advertise odometry on [/odom]
[gzserver-2] [INFO] [1748496422.026761257] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-2] [INFO] [1748496422.026785513] [diff_drive]: Publishing wheel transforms between [base_footprint], [left_wheel_joint] and [right_wheel_joint]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 2394]
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call

84414692-272e-485c-b357-8ceb77c4b527-image.png
失败信息如图
求助
报错消息：
CMake Error at /usr/local/share/cmake-4.0/Modules/FindPackageHandleStandardArgs.cmake:227 (message):
Could NOT find PythonExtra (missing: PythonExtra_EXTENSION_EXTENSION
PythonExtra_INCLUDE_DIRS PythonExtra_LIBRARIES PYTHON_SOABI
PythonExtra_EXTENSION_SUFFIX)
Call Stack (most recent call first):
/usr/local/share/cmake-4.0/Modules/FindPackageHandleStandardArgs.cmake:591 (_FPHSA_FAILURE_MESSAGE)
/opt/ros/humble/share/python_cmake_module/cmake/Modules/FindPythonExtra.cmake:224 (find_package_handle_standard_args)
/opt/ros/humble/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:23 (find_package)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
CMakeLists.txt:27 (rosidl_generate_interfaces)

如题，ROS2的python调用.so，在import的时候提示找不到，但是其实已经存在，并且直接使用python调用.so是成功的。
例子很简单，参考https://blog.csdn.net/qq_42108414/article/details/122865374
我的test_publisher.py，在import example的时候报错，使用的库的名字是：example.cpython-312-x86_64-linux-gnu.so

import rclpy from rclpy.node import Node from std_msgs.msg import String import example class Publisher(Node): def __init__(self,name): super().__init__(name) self.publisher = self.create_publisher(String,"talker_topic",10) #创建一个名为"talker_topic"的话题 timer_period = 5 # 定时器周期为5s self.timer = self.create_timer(timer_period,self.timer_callback) #创建定时器 self.get_logger().info("hello,I'm %s!" %name) # 打印输出日志信息 self.i = 0 self.person = example.Person("Alice", 30) def timer_callback(self): # 定时器回调函数 msg = String() msg.data = 'NO.%d,hello!' %(self.i) # 发布的内容 self.publisher.publish(msg) # 将内容发布出去 self.get_logger().info("Publishing: %s"%msg.data) # 打印发布的内容 self.i += 1 self.person.introduce() def main(args=None): rclpy.init(args=args) # 初始化rclpy node = Publisher("talker") # 创建一个节点，名为“talker” rclpy.spin(node) # 运行节点 rclpy.shutdown() # 关闭rclpy if __name__ == '__main__': main()

老师，这里构建完成之后，代码部分是照着视频原封不动敲的，然后一运行仿真，坐标系和那个机器人一个都没有，课程前面的那个包也是安装了的
e2d6c2f8-4de5-4bc6-8fa4-97b70b25120f-b7204992-008e-49c2-a82f-68d851fe7266.png
26efd6a7-f2e1-4df4-9db4-724e5800e8ef-865af7ab-f2ad-4466-b91a-82f2657b49ff.png
9e16b8a6-9cc2-4f01-a13c-ab94fe5952fb-ab0adfd9-76c0-4507-8a99-32a80ba7d740.png

使用pid控制轮子速度时，设置的值一致，检测的当前速度值一致，但是输出的pid值差了30左右，导致两个轮子的实际转速左轮比右轮慢
以下为main文件代码，头文件与小鱼老师的一致。

// 引入必要的库文件 #include <Arduino.h> // Arduino核心库 #include <Esp32McpwmMotor.h> // ESP32电机控制库 #include <Esp32PcntEncoder.h> // ESP32编码器库 #include <PIDController.h> // PID控制算法库 // 创建电机控制对象 Esp32McpwmMotor motor; // 创建编码器对象数组(左右轮) Esp32PcntEncoder encoders[2]; // 创建PID控制器数组(左右轮) PIDController pid_controller[2]; // 定义电机数据结构体 typedef struct { int64_t current; // 当前编码器计数值 int64_t last; // 上一次编码器计数值 int16_t delta; // 两次采样间的计数值变化 float speed; // 计算得到的轮速(mm/s) float pid_out; // PID控制器输出值 } MotorData; MotorData wheels[2]; // 左右轮数据存储 float last_update_time = 0; // 上次更新时间戳 const char* LABELS[] = {"Left", "Right"}; // 左右轮标签 const float Single_Pulse_Distance = 0.10342f; // 单个脉冲距离(单位：mm) // 打印电机数据函数 void printMotorData(uint8_t i) { Serial.printf("%s Wheel:\n", LABELS[i]); Serial.printf("Current: %d\n", wheels[i].current); Serial.printf("Last: %d\n", wheels[i].last); Serial.printf("Delta: %d\n", wheels[i].delta); // 脉冲计数值变化量（当前-上次） Serial.printf("Speed: %.2fmm/s\n", wheels[i].speed); // 速度(mm/s) Serial.printf("PID Out: %.2f\n\n", wheels[i].pid_out); // PID输出值 } // 更新电机控制函数 void updateMotorControl() { float dt = millis() - last_update_time; // 计算时间差(ms) for(uint8_t i = 0; i < 2; i++) { // 获取当前编码器值 wheels[i].current = encoders[i].getTicks(); // 计算计数值变化量 wheels[i].delta = wheels[i].current - wheels[i].last; // 计算轮速(cm/s): (脉冲数*单个脉冲距离)mm*1000/时间差ms，1000mm/ms 精度 100mm/1m = 0.1m/s wheels[i].speed = (wheels[i].delta * Single_Pulse_Distance * 1000)/dt; // 更新PID控制器并获取输出 wheels[i].pid_out = pid_controller[i].update(wheels[i].speed); Serial.printf("dt: %fms\n", dt); printMotorData(i); // 打印数据 // 更新电机速度 motor.updateMotorSpeed(i, wheels[i].pid_out); // 更新上一次编码器值 wheels[i].last = encoders[i].getTicks(); } last_update_time = millis(); // 更新时间戳 } // 初始化函数 void setup() { Serial.begin(115200); // 初始化串口 // 连接电机引脚(电机编号, 引脚A, 引脚B) motor.attachMotor(0, 22, 23); // 左轮 motor.attachMotor(1, 12, 13); // 右轮 // 初始化编码器(编码器编号, 引脚A, 引脚B) encoders[0].init(0, 32, 33); // 左轮编码器 encoders[1].init(1, 26, 25); // 右轮编码器 // 配置PID参数 for(uint8_t i = 0; i < 2; i++) { pid_controller[i].update_pid(0.30, 0.10, 0.045); // P,I,D参数 pid_controller[i].out_limit(-99, 99); // 输出限幅--占空比 } // 设置目标速度(左轮正向400，右轮正向400) pid_controller[0].update_target(400); //目标速度--mm/s pid_controller[1].update_target(400); } // 主循环 void loop() { delay(10); // 10ms控制周期 updateMotorControl(); // 更新电机控制 }

以下为部分串口数据
dt: 10.000000ms
Left Wheel:
Current: 22567
Last: 22528
Delta: 39
Speed: 403.34mm/s
PID Out: 54.30

dt: 10.000000ms
Right Wheel:
Current: 44701
Last: 44662
Delta: 39
Speed: 403.34mm/s
PID Out: 88.05

dt: 10.000000ms
Left Wheel:
Current: 22606
Last: 22568
Delta: 38
Speed: 393.00mm/s
PID Out: 58.57

dt: 10.000000ms
Right Wheel:
Current: 44779
Last: 44740
Delta: 39
Speed: 403.34mm/s
PID Out: 87.72

dt: 10.000000ms
Left Wheel:
Current: 22646
Last: 22607
Delta: 39
Speed: 403.34mm/s
PID Out: 54.20

dt: 10.000000ms
Right Wheel:
Current: 44857
Last: 44818
Delta: 39
Speed: 403.34mm/s
PID Out: 87.38

[cartographer_node-1] ERROR: flag 'collect_metrics' was defined more than once (in files '/opt/pro/test/test1_ws/src/cartographer_ros/cartographer_ros/src/offline_node.cpp' and '/opt/pro/test/test1_ws/src/cartographer_ros/cartographer_ros/src/node_main.cpp'). [ERROR] [cartographer_node-1]: process has died [pid 4366, exit code 1, cmd '/opt/pro/test/test1_ws/install/cartographer_ros/lib/cartographer_ros/cartographer_node -configuration_directory /opt/pro/test/test1_ws/install/mybot_cartographer/share/mybot_cartographer/config -configuration_basename mybot_2d.lua --ros-args -r __node:=cartographer_node --params-file /tmp/launch_params_r6yzqmrl']

出现上面报错
​​屏幕截图 2025-05-28 154012.png
只启动了 /cartographer_occupancy_grid_node 节点

鱼哥，为啥这里的全局插件报错啊，是需要安装啥东西吗，我一直都是跟着你的课程来的，也没少装东西啊，而且我rqt这里没有TF的选项
1.关于仿真软件
fe526f31-0fc4-47cb-bf00-ed1fdf3c7a18-988ff795-eca2-45c0-8363-4a16d26e4f75.png

2.关于rqt的，相关插件装了，然后相关目标也删除了
fe6b7b45-559d-40fa-906b-b11e611b9bfc-9de21c83daf34ff70b7bc3e7612559e1.jpg

5b1f3783-a88e-4af8-8a1b-cca73e024511-03df70fcbf84dc943211b946329cc5b.png

小车是鱼香4驱v2

在雷达转接板配置完成以后，8889 口通过NC -L 8889 也能收到信号，到9.0.6 章节，第一步一直雷达报错。卡在这里好几天了，需要帮忙
bca7b1a5-8f97-4ad0-8965-f7b79c2c28f5-image.png
1e75e12e-5a92-4922-b0fc-bc5f343aed77-image.png

d9c70be2-bd8e-4f4e-8c39-9d2c1118f1a3-image.png

9.0.5 单独配置雷达转接板，没有任何问题，可以用nc -l 8889 接口收到信号。到了9.0.6 ，不能驱动。第一步就不行。提示雷达是不是坏了什么的。需要帮忙

a7f44578-f241-4a1c-8f0d-6976f31981d6-image.png

关键信息如下：-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 12 packages in topological order:
-- ~~ - turtlebot3 (plain cmake)
-- ~~ - turtlebot3_bringup (plain cmake)
-- ~~ - turtlebot3_cartographer (plain cmake)
-- ~~ - turtlebot3_msgs (plain cmake)
-- ~~ - turtlebot3_navigation2 (plain cmake)
-- ~~ - turtlebot3_simulations (plain cmake)
-- ~~ - turtlebot3_teleop (unknown)
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:89 (message):
Unknown build type 'ament_python' for package 'turtlebot3_teleop'
Call Stack (most recent call first):
CMakeLists.txt:69 (catkin_workspace)

-- ~~ - turtlebot3_example (unknown)
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:89 (message):
Unknown build type 'ament_python' for package 'turtlebot3_example'
Call Stack (most recent call first):
CMakeLists.txt:69 (catkin_workspace)

-- ~~ - turtlebot3_fake_node (plain cmake)
-- ~~ - turtlebot3_gazebo (plain cmake)
-- ~~ - turtlebot3_node (plain cmake)
-- ~~ - turtlebot3_description (plain cmake)
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
This workspace contains non-catkin packages in it, and catkin cannot build
a non-homogeneous workspace without isolation. Try the
'catkin_make_isolated' command instead.
Call Stack (most recent call first):
CMakeLists.txt:69 (catkin_workspace)

求助如何解决

e318947b-9abc-4901-bf8b-45dd7fab702a-图片.png 4c30bb00-7f5f-404e-9865-4ffc75b98f18-图片.png

Cartographer 在请求 odom 和 base 之间的变换时，时间戳不匹配，且请求的时间戳早于变换数据的可用时间。

[cartographer_node-1] [WARN] [1748252628.567376902] [cartographer logger]: W0526 17:43:48.000000 61917 tf_bridge.cpp:53] Lookup would require extrapolation into the past. Requested time 1748250957.654525 but the earliest data is at time 1748252620.653753, when looking up transform from frame [odom] to frame [base]

有没有大佬指导一下

局域网，2.4G ，双频合一关闭，网络延迟4ms以内，开始建图时正常，建图结果能看到房间轮廓，几秒钟后，代表雷达或者小车的坐标轴突然飘走，（此时小车是静止的）。建图结果看不出房间轮廓，失败。 另一种情况是rviz中代表小车的坐标轴突然转个方向（此时小车是静止的），地图突然换个方向，建图结果看不出房间轮廓，建图失败。微信图片_20250526111116.png 微信图片_20250526111129.jpg

7c9e9ad9b4f76c15cdf3509e617865e.png

如何使用hc-12无线串口，实现小车与电脑的无线通讯，串口的矩阵映射如何实现？```
#include <Arduino.h>
#include <Esp32McpwmMotor.h>
#include <Esp32PcntEncoder.h>
#include "PidController.h"
#include <HardwareSerial.h>

// #define HC_RX 37 // UART2的RX引脚
// #define HC_TX 38 // UART2的TX引脚

// HardwareSerial HC12(2);
Esp32McpwmMotor motor;
Esp32PcntEncoder encoders[4];
PidController pid_controller[4];

// 运动控制参数
const float wheel_diameter = 0.065;
const float pulses_per_rev = 1978.0f;
const float wheel_circumference = PI * wheel_diameter;
const float pulse_distance = wheel_circumference / pulses_per_rev;
const float wheel_base = 0.188f;

enum MotionState { STOPPED, MOVING_FORWARD, MOVING_BACKWARD, ROTATING }; // 新增后退状态
MotionState currentState = STOPPED;

unsigned long stopStartTime = 0;
int currentCommand = 0;
int taskStep = 0;
int64_t initial_ticks[4] = {0};
float target_distance = 0;
float target_angle = 0;

void setup() {
// Serial.begin(115200);
Serial.begin(9600,SERIAL_8N1,37,38);
// HC12.begin(9600, SERIAL_8N1, HC_RX, HC_TX);

如何通过hc-12无线串口建立小车与电脑的无线通讯，矩阵映射串口如何使用？

怎么才能在vip专区发帖呢