为什么我的局部代价地图随着小车移动超过一定距离，局部代价地图的颜色就突然变浅了

ros2_humble UBuntu 2022.04.5 在这之前已经完成第六章6.5.1的全部内容，有所不同的是我是自己在solidworks中建的模，并使用插件导出urdf，并加载turtlebot3 的世界文件。在xacro中添加了ros2_control插件代码(以及config/robot_ros2_control.yaml)后启动，有如下输出013d5233-eb22-49a5-8c91-81c6b1edf675-image.png ros2_control.xacro:46b6d284-83e3-4b42-b76d-93f173dc8ae9-image.png robot_ros2_control.yaml:bcb4ff96-1a2e-4917-ad28-dd81fdb8fee1-image.png gazebo.launch.py:41ac4ff7-0548-4911-ac55-4d00cafbde38-image.png .在解决了没有启动robot_state_publisher节点；排除了yaml内容，以及世界文件加载错误后，还是有以上问题。但是在依次小尝试，在main.xacro注释了最后一行文件引入后191cbd99-a2db-4231-a738-521117b787fc-image.png 重新编译，启动、取消注释、重新编译、启动后有如下输出5323869d-0e17-4bf5-84ac-19c97955fd14-image.png f13f0d83-9432-4287-ae84-94e119371386-image.png 虽然问题已近解决，但是我仍然不知道问题在哪里

谢谢小鱼。之前在u盘上安装默认的22.04运行很好。现在想问一下是否可以安装24.04版本的ubuntu？谢谢。

你好，鱼香 ROS 社区

我最近发布了【ros2-docs-l10n】项目：

🚀 预览翻译：ros2-docs-l10n 🌐 Crowdin：ros2-docs-l10n 🐙 GitHub：ros2-docs-l10n 🐱 GitCode：ros2-docs-l10n

这个项目是透过 Sphinx 内建的【国际化】功能生成可翻译的 .po 文件，然后上传到 Crowdin 平台让翻译者能够方便地进行翻译，并且还可以透过 GitHub Pages 预览目前翻译的进度。

5aff9db7-6c70-4d33-abe8-fc6dfad74b95-Screenshot_20250927_151546.png

47edba43-cb72-405c-a0aa-315315c9de4e-Screenshot_20250927_151057.png

虽然目前鱼香 ROS 有制作【ROS2 中文文档】，但是它应该是采用【直接翻译 .rst 源文件】的方式进行维护。老实说这种维护方式相当耗费人力。因为维护者除了要进行【翻译】以外，每当上游原文出现内容更动或大范围的结构重构时，还得负责【同步】更新内容。而且，目前 ROS2 官方文档的最新版本已经更新到 Kilted 版本了，但是【ROS2 中文文档】却还停留在 Humble 版本。

我相信我所制作的这个【ros2-docs-l10n】项目能够提供更效率的翻译模式。因此，我在这边想邀请鱼香 ROS 的【翻译团队】有没有兴趣参与贡献【简体中文】的翻译呢？

root@cq-virtual-machine:/opt/ros/humble# colcon build
Starting >>> ament_package
Starting >>> ament_lint
Starting >>> gtest_vendor
Starting >>> gtest
Starting >>> ament_pycodestyle
Starting >>> ament_cppcheck
Starting >>> osrf_pycommon
Starting >>> google_benchmark_vendor
[2.564s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_package' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.564s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_package' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.568s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_lint' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.568s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_lint' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.586s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_pycodestyle' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.586s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_pycodestyle' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.593s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_cppcheck' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.595s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_cppcheck' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.599s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'osrf_pycommon' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[2.599s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'osrf_pycommon' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
--- stderr: gtest_vendor
CMake Error: The source directory "/opt/ros/humble/share/gtest_vendor" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.

Failed <<< gtest_vendor [0.12s, exited with code 1]
Aborted <<< google_benchmark_vendor [0.10s]
Aborted <<< ament_package [0.14s]
Aborted <<< ament_cppcheck [0.11s]
Aborted <<< ament_lint [0.13s]
Aborted <<< ament_pycodestyle [0.12s]
Aborted <<< osrf_pycommon [0.11s]
Aborted <<< gtest [0.34s]

Summary: 0 packages finished [2.78s]
1 package failed: gtest_vendor
7 packages aborted: ament_cppcheck ament_lint ament_package ament_pycodestyle google_benchmark_vendor gtest osrf_pycommon
2 packages had stderr output: google_benchmark_vendor gtest_vendor
290 packages not processed

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="gazebo_sensor_plugin">
<gazebo reference="laser_link">
<sensor name="laserscan" type="ray">
<plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">

<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？

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？

Traceback (most recent call last):
File "/tmp/fishinstall/install.py", line 134, in <module>
main()
File "/tmp/fishinstall/install.py", line 123, in main
run_tool_file(tools[code]['tool'].replace("/","."))
File "/tmp/fishinstall/tools/base.py", line 1518, in run_tool_file
tool = importlib.import_module(file.replace(".py","")).Tool()
AttributeError: module 'tools.tool_config_system_source' has no attribute 'Tool'

Docker 安装ros1 noetic 小乌龟能出现，但是运行小乌龟控制的终端（rosrun turtlesim turtle_teleop_key）按方向键直接卡死，鼠标移动到小海龟窗口上也会卡死+闪退

学习3.学会面向对象编程-封装IMU驱动章节
ea239b09-4d2a-4d1f-99d1-93cc28c23cb7-image.png
串口监视器截图

有ROS1的学习资源吗

在platform.ini文件下，使用espidf框架，无法安装需要的依赖包 背景：

我想创建MicroROS节点并实现ESP32与ROS2动⼿实践部分的通信，使用的是espidf框架，我看小鱼的使用的是arduino框架。

问题描述：

在.ini文件里写入依赖时，总是输出没法找到这个包，查阅大模型发现这个micro-ROS/micro_ros_platformio包只在arduino框架下有预编译包，尝试许多办法都还是没法解决。

具体细节和上下文：

这是我的.ini文件源码[env:esp32-s3-devkitc-1]
platform = espressif32
board = esp32-s3-devkitc-1
framework = espidf
monitor_speed = 115200

lib_deps =
micro-ROS/micro_ros_platformio
这是报错：
Resolving esp32-s3-devkitc-1 dependencies...
Library Manager: Installing micro-ROS/micro_ros_platformio
UnknownPackageError: Could not find the package with 'micro-ROS/micro_ros_platformio' requirements for your system 'windows_amd64'

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'

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？

[ERROR] [rviz2-3]: process has died [pid 11768, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/abc/桌面/ros2bookcode/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/rviz/display_model.rviz --ros-args'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

NAV2中的局部规划器默认是DWB，但是对阿克曼这种车型不太友好，想使用TEB
但是呢，怎么去进行替换又是一个问题，有没有大佬可以指点一下

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

100a8a570e4267b04944bce9e1c48941.png 有大佬知道这个问题怎么解决吗，现在试过重装px4 重装gazebo了，但都没用，无论是make px4_sitl gazebo还是图片上这个都报错，但是能在jmavsim上仿真。

妫€娴嬪埌绋嬪簭鍙戠敓寮傚父閫€鍑猴紝璇锋墦寮€锛歨ttps://fishros.org.cn/forum 鎼哄甫濡備笅鍐呭杩涜鍙嶉

鏍囬锛氫娇鐢ㄤ竴閿畨瑁呰繃绋嬩腑閬囧埌绋嬪簭宕╂簝

Traceback (most recent call last): File "/tmp/fishinstall/install.py", line 134, in <module> main() File "/tmp/fishinstall/install.py", line 123, in main run_tool_file(tools[code]['tool'].replace("/",".")) File "/tmp/fishinstall/tools/base.py", line 1478, in run_tool_file if tool.run()==False: return False File "/tmp/fishinstall/tools/tool_install_ros.py", line 417, in run self.install_ros() File "/tmp/fishinstall/tools/tool_install_ros.py", line 404, in install_ros self.check_sys_source() File "/tmp/fishinstall/tools/tool_install_ros.py", line 220, in check_sys_source tool.change_sys_source() File "/tmp/fishinstall/tools/tool_config_system_source.py", line 302, in change_sys_source source = self.replace_source(failed_sources) File "/tmp/fishinstall/tools/tool_config_system_source.py", line 294, in replace_source FileUtils.new('/etc/apt/','sources.list',template.replace("<code-name>",codename).replace('<sources>',source)) File "/tmp/fishinstall/tools/base.py", line 1222, in new with open(path+name,"w") as f: PermissionError: [Errno 13] Permission denied: '/etc/apt/sources.list'

鏈杩愯璇︾粏鏃ュ織鏂囦欢宸蹭繚瀛樿嚦 /tmp/fishros_install.log

ModuleNotFoundError: No module named 'demo_python_pkg.python_node'这个报错怎么解决啊 第二章反复跟着做的

02f29b05-5673-4138-bf6a-a25d7b266a56-5bcdc4cb26684e464e6683cbea4aed83.jpg

在运行小鱼课程的fishbot的led灯点亮、imu测量、超声波测量等项目考录到esp32后，OLED显示屏就不亮了。
这是什么原因，怎么修复？