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make depend && make _all make[1]: Entering directory '/opt/openssl-1.1.1/openssl-1.1.1' make[1]: Leaving directory '/opt/openssl-1.1.1/openssl-1.1.1' make[1]: Entering directory '/opt/openssl-1.1.1/openssl-1.1.1' arm-linux-gnu-gcc -I. -Iinclude -fPIC -pthread -Wall -O3 -fomit-frame-pointer -DOPENSSL_USE_NODELETE -DL_ENDIAN -DOPENSSL_PIC -DOPENSSLDIR="\"/opt/openssl-1.1.1/openssl-1.1.1/_install/ssl\"" -DENGINESDIR="\"/opt/openssl-1.1.1/openssl-1.1.1/_install/lib/engines-1.1\"" -DNDEBUG -c -o apps/app_rand.o apps/app_rand.c /bin/sh: 1: arm-linux-gnu-gcc: not found Makefile:720: recipe for target 'apps/app_rand.o' failed make[1]: *** [apps/app_rand.o] Error 127 make[1]: Leaving directory '/opt/openssl-1.1.1/openssl-1.1.1' Makefile:169: recipe for target 'all' failed make: *** [all] Error 2如何解决

时间: 2024-03-27 22:35:13 浏览: 207
To solve the issue, you need to install the `arm-linux-gnu-gcc` compiler. You can do this by following the steps below: 1. Check if the `arm-linux-gnu-gcc` compiler is already installed on your system by running the following command: ``` which arm-linux-gnu-gcc ``` If the command returns a path, then the compiler is already installed. Otherwise, you need to install it. 2. Install the `arm-linux-gnueabihf-gcc` package by running the following command: ``` sudo apt-get install gcc-arm-linux-gnueabihf ``` This will install the `arm-linux-gnueabihf-gcc` compiler on your system. 3. After installing the compiler, make sure that it is in the system path by running the following command: ``` export PATH=$PATH:/usr/bin/arm-linux-gnueabihf ``` This will add the `arm-linux-gnueabihf-gcc` compiler to the system path. 4. Finally, try to recompile the OpenSSL library again using the `make` command: ``` make depend && make _all ``` This should compile the OpenSSL library without any errors.
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xiaofeiyu@xiaofeiyu-virtual-machine:~/task$ colcon build Starting >>> interfaces Finished <<< interfaces [3.69s] Starting >>> armor_detector Starting >>> pnp_solver --- stderr: pnp_solver In file included from /opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:30, from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:45, from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18, from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37, from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/xiaofeiyu/task/pnp_solver/src/pnp_solver.cpp:2: /opt/ros/humble/include/rclcpp/rclcpp/qos_overriding_options.hpp:28:10: fatal error: rcl_interfaces/msg/set_parameters_result.hpp: 没有那个文件或目录 28 | #include "rcl_interfaces/msg/set_parameters_result.hpp" | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. gmake[2]: *** [CMakeFiles/pnp_solver_lib.dir/build.make:76:CMakeFiles/pnp_solver_lib.dir/src/pnp_solver.cpp.o] 错误 1 gmake[1]: *** [CMakeFiles/Makefile2:139:CMakeFiles/pnp_solver_lib.dir/all] 错误 2 gmake: *** [Makefile:146:all] 错误 2 --- Failed <<< pnp_solver [1.13s, exited with code 2] Aborted <<< armor_detector [2.18s] Summary: 1 package finished [6.06s] 1 package failed: pnp_solver 1 package aborted: armor_detector 2 packages had stderr output: armor_detector pnp_solver

EPRobot@EPRobot:~/robot_ws/src/eprobot_start/script/one_car_pkg$ roslaunch eprobot_start one_car_start.launch RLException: [one_car_start.launch] is neither a launch file in package [eprobot_start] nor is [eprobot_start] a launch file name The traceback for the exception was written to the log file EPRobot@EPRobot:~/robot_ws/src/eprobot_start/script/one_car_pkg$ roscd usd_cam roscd: No such package/stack 'usd_cam' EPRobot@EPRobot:~/robot_ws/src/eprobot_start/script/one_car_pkg$ source /opt/ros/melodic/setup.bash EPRobot@EPRobot:~/robot_ws/src/eprobot_start/script/one_car_pkg$ cd ~/robot_ws EPRobot@EPRobot:~/robot_ws$ source devel/setup.bash EPRobot@EPRobot:~/robot_ws$ roslaunch eprobot_start one_car_start.launch ... logging to /home/EPRobot/.ros/log/98e3a152-624a-11f0-a474-e45f0131f240/roslaunch-EPRobot-28515.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. started roslaunch server http://EPRobot:33123/ SUMMARY ======== CLEAR PARAMETERS * /ekf_se/ PARAMETERS * /amcl/base_frame_id: base_footprint * /amcl/global_frame_id: map * /amcl/gui_publish_rate: 10.0 * /amcl/initial_pose_a: 0.0 * /amcl/initial_pose_x: 0.0 * /amcl/initial_pose_y: 0.0 * /amcl/kld_err: 0.05 * /amcl/kld_z: 0.99 * /amcl/laser_lambda_short: 0.1 * /amcl/laser_likelihood_max_dist: 5.0 * /amcl/laser_max_beams: 60 * /amcl/laser_max_range: 12.0 * /amcl/laser_model_type: likelihood_field * /amcl/laser_sigma_hit: 0.2 * /amcl/laser_z_hit: 0.7 * /amcl/laser_z_max: 0.1 * /amcl/laser_z_rand: 0.3 * /amcl/laser_z_short: 0.1 * /amcl/max_particles: 2000 * /amcl/min_particles: 600 * /amcl/odom_alpha1: 0.2 * /amcl/odom_alpha2: 0.2 * /amcl/odom_alpha3: 0.2 * /amcl/odom_alpha4: 0.2 * /amcl/odom_alpha5: 0.1 * /amcl/odom_frame_id: odom * /amcl/odom_model_type: diff * /amcl/recovery_alpha_fast: 0.2 * /amcl/recovery_alpha_slow: 0.005 * /amcl/resample_interval: 0.4 * /amcl/transform_tolerance: 0.5 * /amcl/update_min_a: 0.05 * /amcl/update_min_d: 0.05 * /amcl/use_map_topic: True * /base_control/base_kd: 0.0 * /base_control/base_ki: 100.0 * /base_control/base_kp: 1000.0 * /base_control/base_kv: 1.0 * /base_control/is_send_anger: false * /camera_uri: http://192.168.3.... * /ekf_se/base_link_frame: /base_footprint * /ekf_se/debug: False * /ekf_se/debug_out_file: /path/to/debug/fi... * /ekf_se/frequency: 30 * /ekf_se/imu0: /imu_data * /ekf_se/imu0_config: [False, False, Fa... * /ekf_se/imu0_differential: False * /ekf_se/imu0_nodelay: True * /ekf_se/imu0_pose_rejection_threshold: 0.8 * /ekf_se/imu0_queue_size: 8 * /ekf_se/imu0_relative: True * /ekf_se/imu0_remove_gravitational_acceleration: True * /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ekf_se/map_frame: /map * /ekf_se/odom0: /odom * /ekf_se/odom0_config: [False, False, Fa... * /ekf_se/odom0_differential: False * /ekf_se/odom0_nodelay: True * /ekf_se/odom0_queue_size: 5 * /ekf_se/odom0_relative: True * /ekf_se/odom_frame: /odom * /ekf_se/print_diagnostics: True * /ekf_se/process_noise_covariance: [0.01, 0, 0, 0, 0... * /ekf_se/publish_acceleration: True * /ekf_se/publish_tf: True * /ekf_se/sensor_timeout: 0.025 * /ekf_se/transform_time_offset: 0.0001 * /ekf_se/transform_timeout: 0.025 * /ekf_se/two_d_mode: True * /ekf_se/world_frame: /odom * /image_view/autosize: True * /laser_filter/scan_filter_chain: [{'type': 'laser_... * /lslidar_driver_node/angle_disable_max: 0 * /lslidar_driver_node/angle_disable_min: 0 * /lslidar_driver_node/compensation: False * /lslidar_driver_node/frame_id: base_laser_link * /lslidar_driver_node/high_reflection: False * /lslidar_driver_node/interface_selection: serial * /lslidar_driver_node/lidar_name: M10 * /lslidar_driver_node/max_range: 100.0 * /lslidar_driver_node/min_range: 0.1 * /lslidar_driver_node/pubPointCloud2: False * /lslidar_driver_node/pubScan: True * /lslidar_driver_node/scan_topic: scan * /lslidar_driver_node/serial_port: /dev/EPRobot_laser * /lslidar_driver_node/use_gps_ts: False * /map_server/frame_id: map * /move_base/TebLocalPlannerROS/acc_lim_theta: 0.3 * /move_base/TebLocalPlannerROS/acc_lim_x: 0.2 * /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: True * /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False * /move_base/TebLocalPlannerROS/costmap_converter_plugin: * /move_base/TebLocalPlannerROS/costmap_converter_rate: 5 * /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True * /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 1.0 * /move_base/TebLocalPlannerROS/dt_hysteresis: 0.1 * /move_base/TebLocalPlannerROS/dt_ref: 0.3 * /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.2 * /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: False * /move_base/TebLocalPlannerROS/enable_multithreading: True * /move_base/TebLocalPlannerROS/exact_arc_length: False * /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 3 * /move_base/TebLocalPlannerROS/footprint_model/line_end: [0.1, 0.0] * /move_base/TebLocalPlannerROS/footprint_model/line_start: [-0.1, 0.0] * /move_base/TebLocalPlannerROS/footprint_model/type: line * /move_base/TebLocalPlannerROS/force_reinit_new_goal_dist: 0.5 * /move_base/TebLocalPlannerROS/free_goal_vel: False * /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True * /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: 3.0 * /move_base/TebLocalPlannerROS/h_signature_prescaler: 0.5 * /move_base/TebLocalPlannerROS/h_signature_threshold: 0.1 * /move_base/TebLocalPlannerROS/include_costmap_obstacles: True * /move_base/TebLocalPlannerROS/include_dynamic_obstacles: True * /move_base/TebLocalPlannerROS/inflation_dist: 0.35 * /move_base/TebLocalPlannerROS/is_footprint_dynamic: False * /move_base/TebLocalPlannerROS/legacy_obstacle_association: False * /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 10.0 * /move_base/TebLocalPlannerROS/max_number_classes: 2 * /move_base/TebLocalPlannerROS/max_vel_theta: 1.0 * /move_base/TebLocalPlannerROS/max_vel_x: 0.6 * /move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.3 * /move_base/TebLocalPlannerROS/max_vel_y: 0.0 * /move_base/TebLocalPlannerROS/min_obstacle_dist: 0.55 * /move_base/TebLocalPlannerROS/min_turning_radius: 0.6 * /move_base/TebLocalPlannerROS/no_inner_iterations: 5 * /move_base/TebLocalPlannerROS/no_outer_iterations: 4 * /move_base/TebLocalPlannerROS/obstacle_association_cutoff_factor: 5.0 * /move_base/TebLocalPlannerROS/obstacle_association_force_inclusion_factor: 1.5 * /move_base/TebLocalPlannerROS/obstacle_cost_exponent: 5.5 * /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45 * /move_base/TebLocalPlannerROS/obstacle_keypoint_offset: 0.1 * /move_base/TebLocalPlannerROS/obstacle_poses_affected: 15 * /move_base/TebLocalPlannerROS/odom_topic: odom * /move_base/TebLocalPlannerROS/optimization_activate: True * /move_base/TebLocalPlannerROS/optimization_verbose: False * /move_base/TebLocalPlannerROS/oscillation_recovery: True * /move_base/TebLocalPlannerROS/penalty_epsilon: 0.08 * /move_base/TebLocalPlannerROS/roadmap_graph_area_length_scale: 1.0 * /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5 * /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15 * /move_base/TebLocalPlannerROS/selection_alternative_time_cost: False * /move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0 * /move_base/TebLocalPlannerROS/selection_obst_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/selection_viapoint_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/shrink_horizon_backup: True * /move_base/TebLocalPlannerROS/simple_exploration: False * /move_base/TebLocalPlannerROS/teb_autosize: True * /move_base/TebLocalPlannerROS/via_points_ordered: False * /move_base/TebLocalPlannerROS/visualize_hc_graph: False * /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 1 * /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1 * /move_base/TebLocalPlannerROS/weight_adapt_factor: 1.0 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 100 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 0.6 * /move_base/TebLocalPlannerROS/weight_inflation: 1.0 * /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 800 * /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 6.0 * /move_base/TebLocalPlannerROS/weight_max_vel_theta: 1 * /move_base/TebLocalPlannerROS/weight_max_vel_x: 2 * /move_base/TebLocalPlannerROS/weight_obstacle: 190 * /move_base/TebLocalPlannerROS/weight_optimaltime: 15 * /move_base/TebLocalPlannerROS/weight_shortest_path: 5.0 * /move_base/TebLocalPlannerROS/weight_viapoint: 10.0 * /move_base/TebLocalPlannerROS/wheelbase: 0.3 * /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.1 * /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.1 * /move_base/base_local_planner: teb_local_planner... * /move_base/clearing_rotation_allowed: False * /move_base/conservative_reset_dist: 0.2 * /move_base/controller_frequency: 5.0 * /move_base/controller_patience: 15.0 * /move_base/global_costmap/footprint: [[-0.18, -0.18], ... * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/global_costmap/inflation_layer/enabled: True * /move_base/global_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/global_costmap/inflation_radius: 0.4 * /move_base/global_costmap/laser_scan_sensor/clearing: True * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/global_costmap/laser_scan_sensor/marking: True * /move_base/global_costmap/laser_scan_sensor/topic: scan * /move_base/global_costmap/map_type: costmap * /move_base/global_costmap/observation_sources: laser_scan_sensor * /move_base/global_costmap/obstacle_layer/combination_method: 1 * /move_base/global_costmap/obstacle_layer/enabled: True * /move_base/global_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/global_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/global_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/global_costmap/obstacle_layer/track_unknown_space: False * /move_base/global_costmap/plugins: [{'type': 'costma... * /move_base/global_costmap/publish_frequency: 5.0 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/static_layer/enabled: True * /move_base/global_costmap/static_layer/map_topic: /map * /move_base/global_costmap/static_map: True * /move_base/global_costmap/transform_tolerance: 0.5 * /move_base/global_costmap/update_frequency: 5.0 * /move_base/local_costmap/cost_scaling_factor: 10 * /move_base/local_costmap/footprint: [[-0.18, -0.18], ... * /move_base/local_costmap/global_frame: map * /move_base/local_costmap/height: 3 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/local_costmap/inflation_layer/enabled: True * /move_base/local_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/local_costmap/inflation_radius: 0.16 * /move_base/local_costmap/laser_scan_sensor/clearing: True * /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/local_costmap/laser_scan_sensor/marking: True * /move_base/local_costmap/laser_scan_sensor/topic: scan * /move_base/local_costmap/map_type: costmap * /move_base/local_costmap/observation_sources: laser_scan_sensor * /move_base/local_costmap/obstacle_layer/combination_method: 1 * /move_base/local_costmap/obstacle_layer/enabled: True * /move_base/local_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/local_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/local_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/local_costmap/obstacle_layer/track_unknown_space: False * /move_base/local_costmap/plugins: [{'type': 'costma... * /move_base/local_costmap/publish_frequency: 5.0 * /move_base/local_costmap/resolution: 0.05 * /move_base/local_costmap/robot_base_frame: base_footprint * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/static_layer/enabled: True * /move_base/local_costmap/static_layer/map_topic: /map * /move_base/local_costmap/static_map: False * /move_base/local_costmap/transform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 5.0 * /move_base/local_costmap/width: 3 * /move_base/oscillation_distance: 0.2 * /move_base/oscillation_timeout: 10.0 * /move_base/planner_frequency: 1.0 * /move_base/planner_patience: 5.0 * /robot_description: <?xml version="1.... * /rosdistro: melodic * /rosversion: 1.14.13 * /time0: 5.0 * /time1: 15.0 * /time2: 2.0 * /time3: 10.0 * /time4: 2.0 * /time5: 5.0 * /usb_cam/camera_frame_id: usb_cam * /usb_cam/color_format: yuv422p * /usb_cam/image_height: 960 * /usb_cam/image_width: 1280 * /usb_cam/io_method: mmap * /usb_cam/pixel_format: yuyv * /usb_cam/video_device: /dev/video0 NODES / amcl (amcl/amcl) base_control (eprobot_start/art_racecar.py) base_to_camera (tf/static_transform_publisher) base_to_gyro (tf/static_transform_publisher) base_to_laser (tf/static_transform_publisher) base_to_link (tf/static_transform_publisher) ekf_se (robot_localization/ekf_localization_node) image_view (image_view/image_view) joint_state_publisher (joint_state_publisher/joint_state_publisher) laser_filter (laser_filters/scan_to_scan_filter_chain) lslidar_driver_node (lslidar_driver/lslidar_driver_node) map_server (map_server/map_server) move_base (move_base/move_base) one_car_start (eprobot_start/one_car_start.py) robot_state_publisher (robot_state_publisher/robot_state_publisher) usb_cam (usb_cam/usb_cam_node) auto-starting new master process[master]: started with pid [28540] ROS_MASTER_URI=http://EPRobot:11311 setting /run_id to 98e3a152-624a-11f0-a474-e45f0131f240 process[rosout-1]: started with pid [28569] started core service [/rosout] process[usb_cam-2]: started with pid [28577] [ INFO] [1752673306.541706342]: using default calibration URL [ INFO] [1752673306.544599750]: camera calibration URL: file:///home/EPRobot/.ros/camera_info/head_camera.yaml [ INFO] [1752673306.548678571]: Starting 'head_camera' (/dev/video0) at 1280x960 via mmap (yuyv) at 30 FPS [ WARN] [1752673306.947265581]: unknown control 'focus_auto' process[image_view-3]: started with pid [28591] [ INFO] [1752673307.509032663]: Initializing nodelet with 4 worker threads. [ INFO] [1752673307.861474363]: Using transport "raw" Unable to init server: Could not connect: Connection refused (image_raw:28591): Gtk-WARNING **: 21:41:47.890: cannot open display: process[base_to_link-4]: started with pid [28612] [image_view-3] process has died [pid 28591, exit code -7, cmd /opt/ros/melodic/lib/image_view/image_view image:=/usb_cam/image_raw __name:=image_view __log:=/home/EPRobot/.ros/log/98e3a152-624a-11f0-a474-e45f0131f240/image_view-3.log]. log file: /home/EPRobot/.ros/log/98e3a152-624a-11f0-a474-e45f0131f240/image_view-3*.log process[base_to_gyro-5]: started with pid [28629] process[base_to_laser-6]: started with pid [28635] process[base_to_camera-7]: started with pid [28657] process[joint_state_publisher-8]: started with pid [28680] process[robot_state_publisher-9]: started with pid [28686] /opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal if resource_name in files: process[base_control-10]: started with pid [28694] ERROR: cannot launch node of type [lslidar_driver/lslidar_driver_node]: Cannot locate node of type [lslidar_driver_node] in package [lslidar_driver]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [laser_filters/scan_to_scan_filter_chain]: Cannot locate node of type [scan_to_scan_filter_chain] in package [laser_filters]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [map_server/map_server]: Cannot locate node of type [map_server] in package [map_server]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [amcl/amcl]: Cannot locate node of type [amcl] in package [amcl]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [move_base/move_base]: Cannot locate node of type [move_base] in package [move_base]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [robot_localization/ekf_localization_node]: Cannot locate node of type [ekf_localization_node] in package [robot_localization]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [eprobot_start/one_car_start.py]: Cannot locate node of type [one_car_start.py] in package [eprobot_start]. Make sure file exists in package path and permission is set to executable (chmod +x) [INFO] [1752673319.775691]: base control start... [INFO] [1752673319.816039]: LaserMode : Express [INFO] [1752673319.819294]: is_pub_odom_tf : false [INFO] [1752673319.822670]: is_send_anger : false [INFO] [1752673319.827339]: Opening Serial [INFO] [1752673319.831187]: Serial Open Succeed

catkin_make Base path: /home/hhb/catkin_ws Source space: /home/hhb/catkin_ws/src Build space: /home/hhb/catkin_ws/build Devel space: /home/hhb/catkin_ws/devel Install space: /home/hhb/catkin_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/hhb/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/hhb/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/hhb/catkin_ws/devel;/opt/ros/noetic -- This workspace overlays: /home/hhb/catkin_ws/devel;/opt/ros/noetic -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/hhb/catkin_ws/build/test_results -- Forcing gtest/gmock from source, though one was otherwise available. -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.10 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on WARNING: package "turtlebot3_gazebo" should not depend on metapackage "gazebo_ros_pkgs" but on its packages instead -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 22 packages in topological order: -- ~~ - turtlebot3_simulations (plain cmake) -- ~~ - wpb_home_bringup -- ~~ - wpb_home_remote -- ~~ - abc_swarm -- ~~ - map_pkg -- ~~ - slam_pkg -- ~~ - tianbot_mini -- ~~ - nav_pkg -- ~~ - lidar_pkg -- ~~ - multi_robot_slam -- ~~ - multirobot_map_merge -- ~~ - turtlebot3_fake_node (plain cmake) -- ~~ - tianbot_mini_description -- ~~ - turtlebot3_gazebo (plain cmake) -- ~~ - explore_lite -- ~~ - rrt_star_global_planner -- ~~ - wpb_home_behaviors -- ~~ - wpb_home_python -- ~~ - wpb_home_python3

EPRobot@EPRobot:~/robot_ws$ roscd usb_cam EPRobot@EPRobot:/opt/ros/melodic/share/usb_cam$ source/opt/ros/melodic/setup.bash bash: source/opt/ros/melodic/setup.bash: No such file or directory EPRobot@EPRobot:/opt/ros/melodic/share/usb_cam$ cd ~/robot_ws EPRobot@EPRobot:~/robot_ws$ source devel/setup.bash EPRobot@EPRobot:~/robot_ws$ roslaunch eprobot_start one_car_start.launch ... logging to /home/EPRobot/.ros/log/99f833d2-6236-11f0-a6b3-e45f0131f240/roslaunch-EPRobot-14068.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. started roslaunch server http://EPRobot:33445/ SUMMARY ======== CLEAR PARAMETERS * /ekf_se/ PARAMETERS * /amcl/base_frame_id: base_footprint * /amcl/global_frame_id: map * /amcl/gui_publish_rate: 10.0 * /amcl/initial_pose_a: 0.0 * /amcl/initial_pose_x: 0.0 * /amcl/initial_pose_y: 0.0 * /amcl/kld_err: 0.05 * /amcl/kld_z: 0.99 * /amcl/laser_lambda_short: 0.1 * /amcl/laser_likelihood_max_dist: 5.0 * /amcl/laser_max_beams: 60 * /amcl/laser_max_range: 12.0 * /amcl/laser_model_type: likelihood_field * /amcl/laser_sigma_hit: 0.2 * /amcl/laser_z_hit: 0.7 * /amcl/laser_z_max: 0.1 * /amcl/laser_z_rand: 0.3 * /amcl/laser_z_short: 0.1 * /amcl/max_particles: 2000 * /amcl/min_particles: 600 * /amcl/odom_alpha1: 0.2 * /amcl/odom_alpha2: 0.2 * /amcl/odom_alpha3: 0.2 * /amcl/odom_alpha4: 0.2 * /amcl/odom_alpha5: 0.1 * /amcl/odom_frame_id: odom * /amcl/odom_model_type: diff * /amcl/recovery_alpha_fast: 0.2 * /amcl/recovery_alpha_slow: 0.005 * /amcl/resample_interval: 0.4 * /amcl/transform_tolerance: 0.5 * /amcl/update_min_a: 0.05 * /amcl/update_min_d: 0.05 * /amcl/use_map_topic: True * /base_control/base_kd: 0.0 * /base_control/base_ki: 100.0 * /base_control/base_kp: 1000.0 * /base_control/base_kv: 1.0 * /base_control/is_send_anger: false * /camera_uri: http://192.168.3.... * /ekf_se/base_link_frame: /base_footprint * /ekf_se/debug: False * /ekf_se/debug_out_file: /path/to/debug/fi... * /ekf_se/frequency: 30 * /ekf_se/imu0: /imu_data * /ekf_se/imu0_config: [False, False, Fa... * /ekf_se/imu0_differential: False * /ekf_se/imu0_nodelay: True * /ekf_se/imu0_pose_rejection_threshold: 0.8 * /ekf_se/imu0_queue_size: 8 * /ekf_se/imu0_relative: True * /ekf_se/imu0_remove_gravitational_acceleration: True * /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ekf_se/map_frame: /map * /ekf_se/odom0: /odom * /ekf_se/odom0_config: [False, False, Fa... * /ekf_se/odom0_differential: False * /ekf_se/odom0_nodelay: True * /ekf_se/odom0_queue_size: 5 * /ekf_se/odom0_relative: True * /ekf_se/odom_frame: /odom * /ekf_se/print_diagnostics: True * /ekf_se/process_noise_covariance: [0.01, 0, 0, 0, 0... * /ekf_se/publish_acceleration: True * /ekf_se/publish_tf: True * /ekf_se/sensor_timeout: 0.025 * /ekf_se/transform_time_offset: 0.0001 * /ekf_se/transform_timeout: 0.025 * /ekf_se/two_d_mode: True * /ekf_se/world_frame: /odom * /image_view/autosize: True * /laser_filter/scan_filter_chain: [{'type': 'laser_... * /lslidar_driver_node/angle_disable_max: 0 * /lslidar_driver_node/angle_disable_min: 0 * /lslidar_driver_node/compensation: False * /lslidar_driver_node/frame_id: base_laser_link * /lslidar_driver_node/high_reflection: False * /lslidar_driver_node/interface_selection: serial * /lslidar_driver_node/lidar_name: M10 * /lslidar_driver_node/max_range: 100.0 * /lslidar_driver_node/min_range: 0.1 * /lslidar_driver_node/pubPointCloud2: False * /lslidar_driver_node/pubScan: True * /lslidar_driver_node/scan_topic: scan * /lslidar_driver_node/serial_port: /dev/EPRobot_laser * /lslidar_driver_node/use_gps_ts: False * /map_server/frame_id: map * /move_base/TebLocalPlannerROS/acc_lim_theta: 0.3 * /move_base/TebLocalPlannerROS/acc_lim_x: 0.2 * /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: True * /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False * /move_base/TebLocalPlannerROS/costmap_converter_plugin: * /move_base/TebLocalPlannerROS/costmap_converter_rate: 5 * /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True * /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 1.0 * /move_base/TebLocalPlannerROS/dt_hysteresis: 0.1 * /move_base/TebLocalPlannerROS/dt_ref: 0.3 * /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.2 * /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: False * /move_base/TebLocalPlannerROS/enable_multithreading: True * /move_base/TebLocalPlannerROS/exact_arc_length: False * /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 3 * /move_base/TebLocalPlannerROS/footprint_model/line_end: [0.1, 0.0] * /move_base/TebLocalPlannerROS/footprint_model/line_start: [-0.1, 0.0] * /move_base/TebLocalPlannerROS/footprint_model/type: line * /move_base/TebLocalPlannerROS/force_reinit_new_goal_dist: 0.5 * /move_base/TebLocalPlannerROS/free_goal_vel: False * /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True * /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: 3.0 * /move_base/TebLocalPlannerROS/h_signature_prescaler: 0.5 * /move_base/TebLocalPlannerROS/h_signature_threshold: 0.1 * /move_base/TebLocalPlannerROS/include_costmap_obstacles: True * /move_base/TebLocalPlannerROS/include_dynamic_obstacles: True * /move_base/TebLocalPlannerROS/inflation_dist: 0.35 * /move_base/TebLocalPlannerROS/is_footprint_dynamic: False * /move_base/TebLocalPlannerROS/legacy_obstacle_association: False * /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 10.0 * /move_base/TebLocalPlannerROS/max_number_classes: 2 * /move_base/TebLocalPlannerROS/max_vel_theta: 1.0 * /move_base/TebLocalPlannerROS/max_vel_x: 0.6 * /move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.3 * /move_base/TebLocalPlannerROS/max_vel_y: 0.0 * /move_base/TebLocalPlannerROS/min_obstacle_dist: 0.55 * /move_base/TebLocalPlannerROS/min_turning_radius: 0.6 * /move_base/TebLocalPlannerROS/no_inner_iterations: 5 * /move_base/TebLocalPlannerROS/no_outer_iterations: 4 * /move_base/TebLocalPlannerROS/obstacle_association_cutoff_factor: 5.0 * /move_base/TebLocalPlannerROS/obstacle_association_force_inclusion_factor: 1.5 * /move_base/TebLocalPlannerROS/obstacle_cost_exponent: 5.5 * /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45 * /move_base/TebLocalPlannerROS/obstacle_keypoint_offset: 0.1 * /move_base/TebLocalPlannerROS/obstacle_poses_affected: 15 * /move_base/TebLocalPlannerROS/odom_topic: odom * /move_base/TebLocalPlannerROS/optimization_activate: True * /move_base/TebLocalPlannerROS/optimization_verbose: False * /move_base/TebLocalPlannerROS/oscillation_recovery: True * /move_base/TebLocalPlannerROS/penalty_epsilon: 0.08 * /move_base/TebLocalPlannerROS/roadmap_graph_area_length_scale: 1.0 * /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5 * /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15 * /move_base/TebLocalPlannerROS/selection_alternative_time_cost: False * /move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0 * /move_base/TebLocalPlannerROS/selection_obst_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/selection_viapoint_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/shrink_horizon_backup: True * /move_base/TebLocalPlannerROS/simple_exploration: False * /move_base/TebLocalPlannerROS/teb_autosize: True * /move_base/TebLocalPlannerROS/via_points_ordered: False * /move_base/TebLocalPlannerROS/visualize_hc_graph: False * /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 1 * /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1 * /move_base/TebLocalPlannerROS/weight_adapt_factor: 1.0 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 100 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 0.6 * /move_base/TebLocalPlannerROS/weight_inflation: 1.0 * /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 800 * /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 6.0 * /move_base/TebLocalPlannerROS/weight_max_vel_theta: 1 * /move_base/TebLocalPlannerROS/weight_max_vel_x: 2 * /move_base/TebLocalPlannerROS/weight_obstacle: 190 * /move_base/TebLocalPlannerROS/weight_optimaltime: 15 * /move_base/TebLocalPlannerROS/weight_shortest_path: 5.0 * /move_base/TebLocalPlannerROS/weight_viapoint: 10.0 * /move_base/TebLocalPlannerROS/wheelbase: 0.3 * /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.1 * /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.1 * /move_base/base_local_planner: teb_local_planner... * /move_base/clearing_rotation_allowed: False * /move_base/conservative_reset_dist: 0.2 * /move_base/controller_frequency: 5.0 * /move_base/controller_patience: 15.0 * /move_base/global_costmap/footprint: [[-0.18, -0.18], ... * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/global_costmap/inflation_layer/enabled: True * /move_base/global_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/global_costmap/inflation_radius: 0.4 * /move_base/global_costmap/laser_scan_sensor/clearing: True * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/global_costmap/laser_scan_sensor/marking: True * /move_base/global_costmap/laser_scan_sensor/topic: scan * /move_base/global_costmap/map_type: costmap * /move_base/global_costmap/observation_sources: laser_scan_sensor * /move_base/global_costmap/obstacle_layer/combination_method: 1 * /move_base/global_costmap/obstacle_layer/enabled: True * /move_base/global_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/global_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/global_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/global_costmap/obstacle_layer/track_unknown_space: False * /move_base/global_costmap/plugins: [{'type': 'costma... * /move_base/global_costmap/publish_frequency: 5.0 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/static_layer/enabled: True * /move_base/global_costmap/static_layer/map_topic: /map * /move_base/global_costmap/static_map: True * /move_base/global_costmap/transform_tolerance: 0.5 * /move_base/global_costmap/update_frequency: 5.0 * /move_base/local_costmap/cost_scaling_factor: 10 * /move_base/local_costmap/footprint: [[-0.18, -0.18], ... * /move_base/local_costmap/global_frame: map * /move_base/local_costmap/height: 3 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/local_costmap/inflation_layer/enabled: True * /move_base/local_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/local_costmap/inflation_radius: 0.16 * /move_base/local_costmap/laser_scan_sensor/clearing: True * /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/local_costmap/laser_scan_sensor/marking: True * /move_base/local_costmap/laser_scan_sensor/topic: scan * /move_base/local_costmap/map_type: costmap * /move_base/local_costmap/observation_sources: laser_scan_sensor * /move_base/local_costmap/obstacle_layer/combination_method: 1 * /move_base/local_costmap/obstacle_layer/enabled: True * /move_base/local_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/local_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/local_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/local_costmap/obstacle_layer/track_unknown_space: False * /move_base/local_costmap/plugins: [{'type': 'costma... * /move_base/local_costmap/publish_frequency: 5.0 * /move_base/local_costmap/resolution: 0.05 * /move_base/local_costmap/robot_base_frame: base_footprint * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/static_layer/enabled: True * /move_base/local_costmap/static_layer/map_topic: /map * /move_base/local_costmap/static_map: False * /move_base/local_costmap/transform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 5.0 * /move_base/local_costmap/width: 3 * /move_base/oscillation_distance: 0.2 * /move_base/oscillation_timeout: 10.0 * /move_base/planner_frequency: 1.0 * /move_base/planner_patience: 5.0 * /robot_description: <?xml version="1.... * /rosdistro: melodic * /rosversion: 1.14.13 * /time0: 5.0 * /time1: 15.0 * /time2: 2.0 * /time3: 10.0 * /time4: 2.0 * /time5: 5.0 * /usb_cam/camera_frame_id: usb_cam * /usb_cam/color_format: yuv422p * /usb_cam/image_height: 960 * /usb_cam/image_width: 1280 * /usb_cam/io_method: mmap * /usb_cam/pixel_format: yuyv * /usb_cam/video_device: /dev/video0 NODES / amcl (amcl/amcl) base_control (eprobot_start/art_racecar.py) base_to_camera (tf/static_transform_publisher) base_to_gyro (tf/static_transform_publisher) base_to_laser (tf/static_transform_publisher) base_to_link (tf/static_transform_publisher) ekf_se (robot_localization/ekf_localization_node) image_view (image_view/image_view) joint_state_publisher (joint_state_publisher/joint_state_publisher) laser_filter (laser_filters/scan_to_scan_filter_chain) lslidar_driver_node (lslidar_driver/lslidar_driver_node) map_server (map_server/map_server) move_base (move_base/move_base) one_car_start (eprobot_start/one_car_start.py) robot_state_publisher (robot_state_publisher/robot_state_publisher) usb_cam (usb_cam/usb_cam_node) auto-starting new master process[master]: started with pid [14090] ROS_MASTER_URI=http://EPRobot:11311 setting /run_id to 99f833d2-6236-11f0-a6b3-e45f0131f240 process[rosout-1]: started with pid [14119] started core service [/rosout] process[usb_cam-2]: started with pid [14127] [ INFO] [1752664718.321383044]: using default calibration URL [ INFO] [1752664718.324520524]: camera calibration URL: file:///home/EPRobot/.ros/camera_info/head_camera.yaml [ INFO] [1752664718.326800107]: Starting 'head_camera' (/dev/video0) at 1280x960 via mmap (yuyv) at 30 FPS [ WARN] [1752664718.735313971]: unknown control 'focus_auto' process[image_view-3]: started with pid [14141] [ INFO] [1752664719.297416290]: Initializing nodelet with 4 worker threads. [ INFO] [1752664719.636365059]: Using transport "raw" Unable to init server: Could not connect: Connection refused (image_raw:14141): Gtk-WARNING **: 19:18:39.655: cannot open display: process[base_to_link-4]: started with pid [14162] [image_view-3] process has died [pid 14141, exit code -7, cmd /opt/ros/melodic/lib/image_view/image_view image:=/usb_cam/image_raw __name:=image_view __log:=/home/EPRobot/.ros/log/99f833d2-6236-11f0-a6b3-e45f0131f240/image_view-3.log]. log file: /home/EPRobot/.ros/log/99f833d2-6236-11f0-a6b3-e45f0131f240/image_view-3*.log process[base_to_gyro-5]: started with pid [14179] process[base_to_laser-6]: started with pid [14185] process[base_to_camera-7]: started with pid [14207] process[joint_state_publisher-8]: started with pid [14230] process[robot_state_publisher-9]: started with pid [14236] /opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal if resource_name in files: process[base_control-10]: started with pid [14254] process[lslidar_driver_node-11]: started with pid [14290] [ INFO] [1752664729.962119437]: Lidar is M10 [ INFO] [1752664729.966360145]: Opening PCAP file port = /dev/EPRobot_laser, baud_rate = 460800 open_port /dev/EPRobot_laser OK ! [ INFO] [1752664729.975351998]: Initialised lslidar without error process[laser_filter-12]: started with pid [14294] [ INFO] [1752664731.668764248]: clear_inside(!invert): true [INFO] [1752664731.987782]: base control start... [INFO] [1752664732.050161]: LaserMode : Express [INFO] [1752664732.054070]: is_pub_odom_tf : false [INFO] [1752664732.058682]: is_send_anger : false [INFO] [1752664732.064063]: Opening Serial [INFO] [1752664732.068745]: Serial Open Succeed process[map_server-13]: started with pid [14302] process[amcl-14]: started with pid [14345] [ INFO] [1752664734.603713766]: Subscribed to map topic. process[move_base-15]: started with pid [14392] [ INFO] [1752664738.288776006]: Received a 113 X 155 map @ 0.050 m/pix [ INFO] [1752664738.342521599]: Initializing likelihood field model; this can take some time on large maps... [ INFO] [1752664738.564463605]: Done initializing likelihood field model. process[ekf_se-16]: started with pid [14487] ERROR: cannot launch node of type [eprobot_start/one_car_start.py]: Cannot locate node of type [one_car_start.py] in package [eprobot_start]. Make sure file exists in package path and permission is set to executable (chmod +x) [ WARN] [1752664744.622110021]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_footprint does not exist.. canTransform returned after 0.100855 timeout was 0.1. [ WARN] [1752664749.662226961]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100879 timeout was 0.1. [ WARN] [1752664750.045300032]: No laser scan received (and thus no pose updates have been published) for 1752664750.045188 seconds. Verify that data is being published on the /scan_filtered topic. [ WARN] [1752664750.909388277]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1752664750.910831334]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ INFO] [1752664750.913784170]: global_costmap: Using plugin "static_layer" [ INFO] [1752664750.939597140]: Requesting the map... [ INFO] [1752664752.449678715]: Resizing costmap to 113 X 155 at 0.050000 m/pix [ INFO] [1752664752.547678812]: Received a 113 X 155 map at 0.050000 m/pix [ INFO] [1752664752.561273484]: global_costmap: Using plugin "obstacle_layer" [ INFO] [1752664752.575820460]: Subscribed to Topics: [ INFO] [1752664752.633974493]: global_costmap: Using plugin "inflation_layer" [ WARN] [1752664752.791761769]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1752664752.792967329]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ INFO] [1752664752.796072737]: local_costmap: Using plugin "static_layer" [ INFO] [1752664752.811786347]: Requesting the map... [ INFO] [1752664752.817690388]: Resizing static layer to 113 X 155 at 0.050000 m/pix [ INFO] [1752664752.917396353]: Received a 113 X 155 map at 0.050000 m/pix [ INFO] [1752664752.929664634]: local_costmap: Using plugin "obstacle_layer" [ INFO] [1752664752.939666756]: Subscribed to Topics: [ INFO] [1752664752.965128769]: local_costmap: Using plugin "inflation_layer" [ INFO] [1752664753.095626908]: Created local_planner teb_local_planner/TebLocalPlannerROS [ INFO] [1752664753.341522310]: Footprint model 'line' (line_start: [-0.1,0]m, line_end: [0.1,0]m) loaded for trajectory optimization. [ INFO] [1752664753.342274171]: Parallel planning in distinctive topologies disabled. [ INFO] [1752664753.342459132]: No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles. [ INFO] [1752664754.285150804]: Recovery behavior will clear layer 'obstacles' [ INFO] [1752664754.293909996]: Recovery behavior will clear layer 'obstacles' [ INFO] [1752664754.905121673]: odom received! ^C[ekf_se-16] killing on exit [move_base-15] killing on exit [amcl-14] killing on exit [map_server-13] killing on exit [laser_filter-12] killing on exit [lslidar_driver_node-11] killing on exit [base_control-10] killing on exit [joint_state_publisher-8] killing on exit [robot_state_publisher-9] killing on exit [base_to_camera-7] killing on exit ^C[base_to_laser-6] killing on exit lslidar_driver_node: /usr/include/boost/thread/pthread/condition_variable_fwd.hpp:116: boost::condition_variable::~condition_variable(): Assertion !ret' failed. [base_to_gyro-5] killing on exit [base_to_link-4] killing on exit ^C[usb_cam-2] killing on exit ^C^C^C^C^C^C[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

abot@abot:~/robot_ws$ cd ~/robot_ws && catkin_make -DCATKIN_WHITELIST_PACKAGES="robot_slam" Base path: /home/abot/robot_ws Source space: /home/abot/robot_ws/src Build space: /home/abot/robot_ws/build Devel space: /home/abot/robot_ws/devel Install space: /home/abot/robot_ws/install #### #### Running command: "cmake /home/abot/robot_ws/src -DCATKIN_WHITELIST_PACKAGES=robot_slam -DCATKIN_DEVEL_PREFIX=/home/abot/robot_ws/devel -DCMAKE_INSTALL_PREFIX=/home/abot/robot_ws/install -G Unix Makefiles" in "/home/abot/robot_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/abot/robot_ws/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/noetic -- This workspace overlays: /opt/ros/noetic -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/abot/robot_ws/build/test_results -- Forcing gtest/gmock from source, though one was otherwise available. -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.10 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- Using CATKIN_WHITELIST_PACKAGES: robot_slam -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 1 packages in topological order: -- ~~ - robot_slam -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'robot_slam' -- ==> add_subdirectory(robot_slam) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'system_lib' but neither 'system_lib_INCLUDE_DIRS' nor

你根本就没有真正意识到你错了哪里!,你看看-v输出详情 cat@lubancat:~/work/lvgl/demo_linux_port_sdl$ cmake --build ./build -v /usr/bin/cmake -S/home/cat/work/lvgl/demo_linux_port_sdl -B/home/cat/work/lvgl/demo_linux_port_sdl/build --check-build-system CMakeFiles/Makefile.cmake 0 /usr/bin/cmake -E cmake_progress_start /home/cat/work/lvgl/demo_linux_port_sdl/build/CMakeFiles /home/cat/work/lvgl/demo_linux_port_sdl/build/CMakeFiles/progress.marks /usr/bin/make -f CMakeFiles/Makefile2 all make[1]: Entering directory '/home/cat/work/lvgl/demo_linux_port_sdl/build' /usr/bin/make -f CMakeFiles/rk3588_sdl2.dir/build.make CMakeFiles/rk3588_sdl2.dir/depend make[2]: Entering directory '/home/cat/work/lvgl/demo_linux_port_sdl/build' cd /home/cat/work/lvgl/demo_linux_port_sdl/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/cat/work/lvgl/demo_linux_port_sdl /home/cat/work/lvgl/demo_linux_port_sdl /home/cat/work/lvgl/demo_linux_port_sdl/build /home/cat/work/lvgl/demo_linux_port_sdl/build /home/cat/work/lvgl/demo_linux_port_sdl/build/CMakeFiles/rk3588_sdl2.dir/DependInfo.cmake --color= Dependee "/home/cat/work/lvgl/demo_linux_port_sdl/build/CMakeFiles/rk3588_sdl2.dir/DependInfo.cmake" is newer than depender "/home/cat/work/lvgl/demo_linux_port_sdl/build/CMakeFiles/rk3588_sdl2.dir/depend.internal". Dependee "/home/cat/work/lvgl/demo_linux_port_sdl/build/CMakeFiles/CMakeDirectoryInformation.cmake" is newer than depender "/home/cat/work/lvgl/demo_linux_port_sdl/build/CMakeFiles/rk3588_sdl2.dir/depend.internal". Scanning dependencies of target rk3588_sdl2 make[2]: Leaving directory '/home/cat/work/lvgl/demo_linux_port_sdl/build' /usr/bin/make -f CMakeFiles/rk3588_sdl2.dir/build.make CMakeFiles/rk3588_sdl2.dir/build make[2]: Entering directory '/home/cat/work/lvgl/demo_linux_port_sdl/build' [ 50%] Building C object CMakeFiles/rk3588_sdl2.dir/Src/main.c.o /usr/bin/cc -DLV_CONF_INCLUDE_SIMPLE=1 -I/home/cat/software/install_dir/lv_port_linux/include -I/home/cat/software/install_dir/lv_port_linux/include/lvgl -I/usr/include/SDL2 -Wall -Wextra -std=gnu11 -o CMakeFiles/rk3588_sdl2.dir/Src/main.c.o -c /home/cat/work/lvgl/demo_linux_port_sdl/Src/main.c [100%] Linking C executable rk3588_sdl2 /usr/bin/cmake -E cmake_link_script CMakeFiles/rk3588_sdl2.dir/link.txt --verbose=1 /usr/bin/cc -Wall -Wextra CMakeFiles/rk3588_sdl2.dir/Src/main.c.o -o rk3588_sdl2 -lSDL2 /home/cat/software/install_dir/lv_port_linux/lib/liblvgl.a -lpthread -lm -ldl 你的确找到了lvgl静态库的绝对路径地址/home/cat/software/install_dir/lv_port_linux/lib/liblvgl.a,但是你没有加-L来直接连接

ncut@ubuntu:~/catkin_ws$ catkin_make Base path: /home/ncut/catkin_ws Source space: /home/ncut/catkin_ws/src Build space: /home/ncut/catkin_ws/build Devel space: /home/ncut/catkin_ws/devel Install space: /home/ncut/catkin_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/ncut/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/ncut/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/ncut/catkin_ws/devel;/home/ncut/robot_ws/devel;/opt/ros/melodic -- This workspace overlays: /home/ncut/catkin_ws/devel;/home/ncut/robot_ws/devel;/opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/ncut/catkin_ws/build/test_results -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.29 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on WARNING: package "usb_cam" should not depend on metapackage "image_transport_plugins" but on its packages instead -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 4 packages in topological order: -- ~~ - learning_communication -- ~~ - learning_tf -- ~~ - usb_cam (plain cmake) -- ~~ - mbot_description -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ CMake Error at /opt/ros/melodic/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) -- Configuring i

/usr/bin/cmake -S/home/zbt/S/sylar -B/home/zbt/S/sylar --check-build-system CMakeFiles/Makefile.cmake 0 /usr/bin/cmake -E cmake_progress_start /home/zbt/S/sylar/CMakeFiles /home/zbt/S/sylar/CMakeFiles/progress.marks make -f CMakeFiles/Makefile2 all make[1]: Entering directory '/home/zbt/S/sylar' make -f CMakeFiles/sylar.dir/build.make CMakeFiles/sylar.dir/depend make -f CMakeFiles/test_module.dir/build.make CMakeFiles/test_module.dir/depend make[2]: Entering directory '/home/zbt/S/sylar' cd /home/zbt/S/sylar && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/zbt/S/sylar /home/zbt/S/sylar /home/zbt/S/sylar /home/zbt/S/sylar /home/zbt/S/sylar/CMakeFiles/test_module.dir/DependInfo.cmake --color= make[2]: Entering directory '/home/zbt/S/sylar' [ 1%] Generating sylar/http/httpclient_parser.rl.cc [ 1%] Generating sylar/http/http11_parser.rl.cc make[2]: Leaving directory '/home/zbt/S/sylar' make -f CMakeFiles/test_module.dir/build.make CMakeFiles/test_module.dir/build cd /home/zbt/S/sylar/sylar/http cd /home/zbt/S/sylar/sylar/http ragel /home/zbt/S/sylar/sylar/http/http11_parser.rl -o /home/zbt/S/sylar/sylar/http/http11_parser.rl.cc -l -C -G2 --error-format=msvc make[2]: Entering directory '/home/zbt/S/sylar' make[2]: ragel: Command not found ragel /home/zbt/S/sylar/sylar/http/httpclient_parser.rl -o /home/zbt/S/sylar/sylar/http/httpclient_parser.rl.cc -l -C -G2 --error-format=msvc make[2]: ragel: Command not found make[2]: *** [CMakeFiles/sylar.dir/build.make:66: sylar/http/http11_parser.rl.cc] Error 127 make[2]: *** Waiting for unfinished jobs.... make[2]: *** [CMakeFiles/sylar.dir/build.make:71: sylar/http/httpclient_parser.rl.cc] Error 127 [ 1%] Generating sylar/uri.rl.cc [ 1%] Building CXX object CMakeFiles/test_module.dir/tests/test_module.cc.o cd /home/zbt/S/sylar/sylar /usr/bin/c++ -DDBUG_OFF -Dtest_module_EXPORTS -I/home/zbt/S/sylar/. -I/apps/sylar/include -I/usr/include/mysql -rdynamic -O3 -fPIC -ggdb -std=c++11 -Wall -Wno-deprecated -Werror -Wno-unused-function -Wno-builtin-macro-redefined -Wno-deprecated-declarations -fPIC -o CMakeFiles/test_module.dir/tests/test_module.cc.o -c /home/zbt/S/sylar/tests/test_module.cc ragel /home/zbt/S/sylar/sylar/uri.rl -o /home/zbt/S/sylar/sylar/uri.rl.cc -l -C -G2 --error-format=msvc make[2]: ragel: Command not found make[2]: *** [CMakeFiles/sylar.dir/build.make:76: sylar/uri.rl.cc] Error 127 make[2]: Leaving directory '/home/zbt/S/sylar' make[1]: *** [CMakeFiles/Makefile2:247: CMakeFiles/sylar.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 1%] Linking CXX shared library lib/libtest_module.so /usr/bin/cmake -E cmake_link_script CMakeFiles/test_module.dir/link.txt --verbose=1 /usr/bin/c++ -fPIC -rdynamic -O3 -fPIC -ggdb -std=c++11 -Wall -Wno-deprecated -Werror -Wno-unused-function -Wno-builtin-macro-redefined -Wno-deprecated-declarations -shared -Wl,-soname,libtest_module.so -o lib/libtest_module.so CMakeFiles/test_module.dir/tests/test_module.cc.o -L/apps/sylar/lib -L/apps/sylar/lib64 make[2]: Leaving directory '/home/zbt/S/sylar' [ 1%] Built target test_module make[1]: Leaving directory '/home/zbt/S/sylar' make: *** [Makefile:87: all] Error 2

abot@abot-robot:~/catkin_ws$ catkin_make Base path: /home/abot/catkin_ws Source space: /home/abot/catkin_ws/src Build space: /home/abot/catkin_ws/build Devel space: /home/abot/catkin_ws/devel Install space: /home/abot/catkin_ws/install #### #### Running command: "cmake /home/abot/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/abot/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/abot/catkin_ws/install -G Unix Makefiles" in "/home/abot/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/abot/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/abot/catkin_ws/devel;/opt/ros/melodic -- This workspace overlays: /home/abot/catkin_ws/devel;/opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/abot/catkin_ws/build/test_results -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.29 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 1 packages in topological order: -- ~~ - mbot_gazebo -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'mbot_gazebo' -- ==> add_subdirectory(mbot_gazebo) -- Could NOT find gazebo_plugins (missing: gazebo_plugins_DIR) -- Could not find the required component 'gazebo_plugins'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration fil

(rosenv) whyros@ubuntu:~/爱死机战队-汪辉耀-何海-朱睿程/ros_ws$ roslaunch mini2_description gazebo_room.launch ... logging to /home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/roslaunch-ubuntu-348341.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. started roslaunch server http://ubuntu:37833/ SUMMARY ======== PARAMETERS * /gazebo/enable_ros_network: True * /joint_state_publisher/source_list: ['/joint_states1'] * /mini2/mini2/11_Joint_controller/gravity_compensation: True * /mini2/mini2/11_Joint_controller/joint: 11_Joint * /mini2/mini2/11_Joint_controller/pid/d: 50.0 * /mini2/mini2/11_Joint_controller/pid/i: 0.1 * /mini2/mini2/11_Joint_controller/pid/p: 1000.0 * /mini2/mini2/11_Joint_controller/type: position_controll... * /mini2/mini2/11_Joint_controller/update_rate: 1000 * /mini2/mini2/12_Joint_controller/gravity_compensation: True * /mini2/mini2/12_Joint_controller/joint: 12_Joint * /mini2/mini2/12_Joint_controller/pid/d: 40.0 * /mini2/mini2/12_Joint_controller/pid/i: 0.1 * /mini2/mini2/12_Joint_controller/pid/p: 800.0 * /mini2/mini2/12_Joint_controller/type: position_controll... * /mini2/mini2/12_Joint_controller/update_rate: 1000 * /mini2/mini2/13_Joint_controller/gravity_compensation: True * /mini2/mini2/13_Joint_controller/joint: 13_Joint * /mini2/mini2/13_Joint_controller/pid/d: 60.0 * /mini2/mini2/13_Joint_controller/pid/i: 0.1 * /mini2/mini2/13_Joint_controller/pid/p: 1200.0 * /mini2/mini2/13_Joint_controller/type: position_controll... * /mini2/mini2/13_Joint_controller/update_rate: 1000 * /mini2/mini2/21_Joint_controller/gravity_compensation: True * /mini2/mini2/21_Joint_controller/joint: 21_Joint * /mini2/mini2/21_Joint_controller/pid/d: 20.0 * /mini2/mini2/21_Joint_controller/pid/i: 0.1 * /mini2/mini2/21_Joint_controller/pid/p: 400.0 * /mini2/mini2/21_Joint_controller/type: position_controll... * /mini2/mini2/21_Joint_controller/update_rate: 1000 * /mini2/mini2/22_Joint_controller/gravity_compensation: True * /mini2/mini2/22_Joint_controller/joint: 22_Joint * /mini2/mini2/22_Joint_controller/pid/d: 20.0 * /mini2/mini2/22_Joint_controller/pid/i: 0.1 * /mini2/mini2/22_Joint_controller/pid/p: 400.0 * /mini2/mini2/22_Joint_controller/type: position_controll... * /mini2/mini2/22_Joint_controller/update_rate: 1000 * /mini2/mini2/23_Joint_controller/gravity_compensation: True * /mini2/mini2/23_Joint_controller/joint: 23_Joint * /mini2/mini2/23_Joint_controller/pid/d: 20.0 * /mini2/mini2/23_Joint_controller/pid/i: 0.1 * /mini2/mini2/23_Joint_controller/pid/p: 400.0 * /mini2/mini2/23_Joint_controller/type: position_controll... * /mini2/mini2/23_Joint_controller/update_rate: 1000 * /mini2/mini2/31_Joint_controller/gravity_compensation: True * /mini2/mini2/31_Joint_controller/joint: 31_Joint * /mini2/mini2/31_Joint_controller/pid/d: 20.0 * /mini2/mini2/31_Joint_controller/pid/i: 0.5 * /mini2/mini2/31_Joint_controller/pid/p: 400.0 * /mini2/mini2/31_Joint_controller/type: position_controll... * /mini2/mini2/31_Joint_controller/update_rate: 1000 * /mini2/mini2/32_Joint_controller/gravity_compensation: True * /mini2/mini2/32_Joint_controller/joint: 32_Joint * /mini2/mini2/32_Joint_controller/pid/d: 20.0 * /mini2/mini2/32_Joint_controller/pid/i: 0.1 * /mini2/mini2/32_Joint_controller/pid/p: 400.0 * /mini2/mini2/32_Joint_controller/type: position_controll... * /mini2/mini2/32_Joint_controller/update_rate: 1000 * /mini2/mini2/33_Joint_controller/gravity_compensation: True * /mini2/mini2/33_Joint_controller/joint: 33_Joint * /mini2/mini2/33_Joint_controller/pid/d: 20.0 * /mini2/mini2/33_Joint_controller/pid/i: 0.1 * /mini2/mini2/33_Joint_controller/pid/p: 400.0 * /mini2/mini2/33_Joint_controller/type: position_controll... * /mini2/mini2/33_Joint_controller/update_rate: 1000 * /mini2/mini2/41_Joint_controller/gravity_compensation: True * /mini2/mini2/41_Joint_controller/joint: 41_Joint * /mini2/mini2/41_Joint_controller/pid/d: 20.0 * /mini2/mini2/41_Joint_controller/pid/i: 0.5 * /mini2/mini2/41_Joint_controller/pid/p: 400.0 * /mini2/mini2/41_Joint_controller/type: position_controll... * /mini2/mini2/41_Joint_controller/update_rate: 1000 * /mini2/mini2/42_Joint_controller/gravity_compensation: True * /mini2/mini2/42_Joint_controller/joint: 42_Joint * /mini2/mini2/42_Joint_controller/pid/d: 20.0 * /mini2/mini2/42_Joint_controller/pid/i: 0.5 * /mini2/mini2/42_Joint_controller/pid/p: 400.0 * /mini2/mini2/42_Joint_controller/type: position_controll... * /mini2/mini2/42_Joint_controller/update_rate: 1000 * /mini2/mini2/43_Joint_controller/gravity_compensation: True * /mini2/mini2/43_Joint_controller/joint: 43_Joint * /mini2/mini2/43_Joint_controller/pid/d: 20.0 * /mini2/mini2/43_Joint_controller/pid/i: 0.5 * /mini2/mini2/43_Joint_controller/pid/p: 400.0 * /mini2/mini2/43_Joint_controller/type: position_controll... * /mini2/mini2/43_Joint_controller/update_rate: 1000 * /mini2/mini2/500_Joint_controller/gravity_compensation: True * /mini2/mini2/500_Joint_controller/joint: 500_Joint * /mini2/mini2/500_Joint_controller/pid/d: 20.0 * /mini2/mini2/500_Joint_controller/pid/i: 0.5 * /mini2/mini2/500_Joint_controller/pid/p: 400.0 * /mini2/mini2/500_Joint_controller/type: position_controll... * /mini2/mini2/500_Joint_controller/update_rate: 1000 * /mini2/mini2/50_Joint_controller/gravity_compensation: True * /mini2/mini2/50_Joint_controller/joint: 50_Joint * /mini2/mini2/50_Joint_controller/pid/d: 20.0 * /mini2/mini2/50_Joint_controller/pid/i: 0.5 * /mini2/mini2/50_Joint_controller/pid/p: 400.0 * /mini2/mini2/50_Joint_controller/type: position_controll... * /mini2/mini2/50_Joint_controller/update_rate: 1000 * /mini2/mini2/51_Joint_controller/gravity_compensation: True * /mini2/mini2/51_Joint_controller/joint: 51_Joint * /mini2/mini2/51_Joint_controller/pid/d: 20.0 * /mini2/mini2/51_Joint_controller/pid/i: 0.5 * /mini2/mini2/51_Joint_controller/pid/p: 400.0 * /mini2/mini2/51_Joint_controller/type: position_controll... * /mini2/mini2/51_Joint_controller/update_rate: 1000 * /mini2/mini2/52_Joint_controller/gravity_compensation: True * /mini2/mini2/52_Joint_controller/joint: 52_Joint * /mini2/mini2/52_Joint_controller/pid/d: 30.0 * /mini2/mini2/52_Joint_controller/pid/i: 0.1 * /mini2/mini2/52_Joint_controller/pid/p: 500.0 * /mini2/mini2/52_Joint_controller/type: position_controll... * /mini2/mini2/52_Joint_controller/update_rate: 1000 * /mini2/mini2/53_Joint_controller/gravity_compensation: True * /mini2/mini2/53_Joint_controller/joint: 53_Joint * /mini2/mini2/53_Joint_controller/pid/d: 20.0 * /mini2/mini2/53_Joint_controller/pid/i: 0.5 * /mini2/mini2/53_Joint_controller/pid/p: 400.0 * /mini2/mini2/53_Joint_controller/type: position_controll... * /mini2/mini2/53_Joint_controller/update_rate: 1000 * /mini2/mini2/joint_state_controller/publish_rate: 50 * /mini2/mini2/joint_state_controller/type: joint_state_contr... * /robot_description: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.17.3 * /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_control (mini2_description/joint_control.py) joint_state_publisher (joint_state_publisher/joint_state_publisher) robot_state_publisher (robot_state_publisher/robot_state_publisher) /mini2/ controller_spawner (controller_manager/spawner) spawn_urdf (gazebo_ros/spawn_model) auto-starting new master process[master]: started with pid [348349] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 4051dbf6-56a8-11f0-8dcd-81cf0e965cb7 process[rosout-1]: started with pid [348359] started core service [/rosout] process[gazebo-2]: started with pid [348367] process[gazebo_gui-3]: started with pid [348370] process[mini2/spawn_urdf-4]: started with pid [348375] process[mini2/controller_spawner-5]: started with pid [348378] process[robot_state_publisher-6]: started with pid [348379] process[joint_state_publisher-7]: started with pid [348380] process[joint_control-8]: started with pid [348385] [WARN] [1751394109.302342, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect. [INFO] [1751394109.303728, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1751394109.332422, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1751394109.521168280]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394109.523086673]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394109.523249881]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [INFO] [1751394109.524751521]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... Traceback (most recent call last): File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 239, in <module> exit_code = sm.run() File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 132, in run model_xml = rospy.get_param(self.args.param) File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 468, in get_param return _param_server[param_name] #MasterProxy does all the magic for us File "/opt/ros/noetic/lib/python3/dist-packages/rospy/msproxy.py", line 123, in __getitem__ raise KeyError(key) KeyError: 'robot_description' [INFO] [1751394110.040706553]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1751394110.089876775, 0.001000000]: Physics dynamic reconfigure ready. [mini2/spawn_urdf-4] process has died [pid 348375, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model mini2_description -param robot_description -x 0.0244236973111199 -y -0.00001185 -z 0.00216909321295 -R 0 -P 0 -Y 0 -unpause __name:=spawn_urdf __log:=/home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/mini2-spawn_urdf-4.log]. log file: /home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/mini2-spawn_urdf-4*.log context mismatch in svga_surface_destroy context mismatch in svga_surface_destroy [WARN] [1751394139.451305, 2.934000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [mini2/controller_spawner-5] process has finished cleanly log file: /home/whyros/.ros/log/4051dbf6-56a8-11f0-8dcd-81cf0e965cb7/mini2-controller_spawner-5*.log ^C[joint_control-8] killing on exit [joint_state_publisher-7] killing on exit [robot_state_publisher-6] killing on exit [gazebo_gui-3] killing on exit [gazebo-2] killing on exit ^C[gazebo_gui-3] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done (rosenv) whyros@ubuntu:~/爱死机战队-汪辉耀-何海-朱睿程/ros_ws$ roslaunch mini2_description gazebo_room.launch ... logging to /home/whyros/.ros/log/3fc93650-56aa-11f0-8dcd-81cf0e965cb7/roslaunch-ubuntu-361713.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. started roslaunch server http://ubuntu:36143/ SUMMARY ======== PARAMETERS * /gazebo/enable_ros_network: True * /joint_state_publisher/source_list: ['/joint_states1'] * /mini2/arm_controller/constraints/goal_time: 0.6 * /mini2/arm_controller/constraints/joints/11_Joint/goal: True * /mini2/arm_controller/constraints/joints/11_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/12_Joint/goal: True * /mini2/arm_controller/constraints/joints/12_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/13_Joint/goal: True * /mini2/arm_controller/constraints/joints/13_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/21_Joint/goal: True * /mini2/arm_controller/constraints/joints/21_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/22_Joint/goal: True * /mini2/arm_controller/constraints/joints/22_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/23_Joint/goal: True * /mini2/arm_controller/constraints/joints/23_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/31_Joint/goal: True * /mini2/arm_controller/constraints/joints/31_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/32_Joint/goal: True * /mini2/arm_controller/constraints/joints/32_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/33_Joint/goal: True * /mini2/arm_controller/constraints/joints/33_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/41_Joint/goal: True * /mini2/arm_controller/constraints/joints/41_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/42_Joint/goal: True * /mini2/arm_controller/constraints/joints/42_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/43_Joint/goal: True * /mini2/arm_controller/constraints/joints/43_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/500_Joint/goal: True * /mini2/arm_controller/constraints/joints/500_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/50_Joint/goal: True * /mini2/arm_controller/constraints/joints/50_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/51_Joint/goal: True * /mini2/arm_controller/constraints/joints/51_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/52_Joint/goal: True * /mini2/arm_controller/constraints/joints/52_Joint/trajectory: True * /mini2/arm_controller/constraints/joints/53_Joint/goal: True * /mini2/arm_controller/constraints/joints/53_Joint/trajectory: True * /mini2/arm_controller/constraints/stopping_trajectory_duration: 0.5 * /mini2/arm_controller/joints: ['11_Joint', '12_... * /mini2/arm_controller/pid_gains/11_Joint/d: 50.0 * /mini2/arm_controller/pid_gains/11_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/11_Joint/p: 1000.0 * /mini2/arm_controller/pid_gains/12_Joint/d: 40.0 * /mini2/arm_controller/pid_gains/12_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/12_Joint/p: 800.0 * /mini2/arm_controller/pid_gains/13_Joint/d: 60.0 * /mini2/arm_controller/pid_gains/13_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/13_Joint/p: 1200.0 * /mini2/arm_controller/pid_gains/21_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/21_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/21_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/22_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/22_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/22_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/23_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/23_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/23_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/31_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/31_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/31_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/32_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/32_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/32_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/33_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/33_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/33_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/41_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/41_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/41_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/42_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/42_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/42_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/43_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/43_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/43_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/500_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/500_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/500_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/50_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/50_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/50_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/51_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/51_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/51_Joint/p: 400.0 * /mini2/arm_controller/pid_gains/52_Joint/d: 30.0 * /mini2/arm_controller/pid_gains/52_Joint/i: 0.1 * /mini2/arm_controller/pid_gains/52_Joint/p: 500.0 * /mini2/arm_controller/pid_gains/53_Joint/d: 20.0 * /mini2/arm_controller/pid_gains/53_Joint/i: 0.5 * /mini2/arm_controller/pid_gains/53_Joint/p: 400.0 * /mini2/arm_controller/type: effort_controller... * /mini2/joint_state_controller/publish_rate: 50 * /mini2/joint_state_controller/type: joint_state_contr... * /robot_description: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.17.3 * /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_control (mini2_description/joint_control.py) joint_state_publisher (joint_state_publisher/joint_state_publisher) robot_state_publisher (robot_state_publisher/robot_state_publisher) /mini2/ controller_spawner (controller_manager/spawner) spawn_urdf (gazebo_ros/spawn_model) auto-starting new master process[master]: started with pid [361721] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 3fc93650-56aa-11f0-8dcd-81cf0e965cb7 process[rosout-1]: started with pid [361732] started core service [/rosout] process[gazebo-2]: started with pid [361742] process[gazebo_gui-3]: started with pid [361745] process[mini2/spawn_urdf-4]: started with pid [361750] process[mini2/controller_spawner-5]: started with pid [361753] process[robot_state_publisher-6]: started with pid [361754] process[joint_state_publisher-7]: started with pid [361755] process[joint_control-8]: started with pid [361760] [WARN] [1751394967.320296, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect. [INFO] [1751394967.322947, 0.000000]: Controller Spawner: Waiting for service /mini2/controller_manager/load_controller [INFO] [1751394967.360534, 0.000000]: Loading model XML from ros parameter /robot_description [INFO] [1751394967.367955, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1751394967.591428043]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394967.592695892]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [INFO] [1751394967.712372708]: Finished loading Gazebo ROS API Plugin. [INFO] [1751394967.714188401]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [INFO] [1751394968.111488158]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1751394968.144013226, 0.003000000]: Physics dynamic reconfigure ready. [INFO] [1751394968.274723, 0.016000]: Calling service /gazebo/spawn_urdf_model [INFO] [1751394968.639988, 0.036000]: Spawn status: SpawnModel: Successfully spawned entity [INFO] [1751394968.641505, 0.036000]: Unpausing physics [mini2/spawn_urdf-4] process has finished cleanly log file: /home/whyros/.ros/log/3fc93650-56aa-11f0-8dcd-81cf0e965cb7/mini2-spawn_urdf-4*.log [INFO] [1751394972.082549432, 0.036000000]: Loading gazebo_ros_control plugin [INFO] [1751394972.082927631, 0.036000000]: Starting gazebo_ros_control plugin in namespace: /mini2 [INFO] [1751394972.083688984, 0.036000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [INFO] [1751394972.197588955, 0.036000000]: Loaded gazebo_ros_control. [INFO] [1751394972.419081, 0.058000]: Controller Spawner: Waiting for service /mini2/controller_manager/switch_controller [INFO] [1751394972.422287, 0.058000]: Controller Spawner: Waiting for service /mini2/controller_manager/unload_controller [INFO] [1751394972.424556, 0.059000]: Loading controller: joint_state_controller [INFO] [1751394972.443607, 0.061000]: Loading controller: arm_controller [ERROR] [1751394972.448703925, 0.061000000]: Could not load controller 'arm_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1751394972.448778446, 0.061000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types context mismatch in svga_surface_destroy context mismatch in svga_surface_destroy [ERROR] [1751394973.449190, 0.161000]: Failed to load arm_controller [INFO] [1751394973.450581, 0.161000]: Controller Spawner: Loaded controllers: joint_state_controller [INFO] [1751394973.456978, 0.162000]: Started controllers: joint_state_controller

/home/zhu2004/demo03_ws/src/plumbing_test/src/test01_pub_twist.cpp: In function ‘int main(int, char**)’: /home/zhu2004/demo03_ws/src/plumbing_test/src/test01_pub_twist.cpp:8:37: error: ‘geometry_msgs’ was not declared in this scope 8 | ros::Publisher pub=nh.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10); | ^~~~~~~~~~~~~ /home/zhu2004/demo03_ws/src/plumbing_test/src/test01_pub_twist.cpp:8:27: error: parse error in template argument list 8 | ros::Publisher pub=nh.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/zhu2004/demo03_ws/src/plumbing_test/src/test01_pub_twist.cpp:8:80: error: no matching function for call to ‘ros::NodeHandle::advertise<<expression error> >(const char [17], int)’ 8 | ros::Publisher pub=nh.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10); | ^ In file included from /opt/ros/noetic/include/ros/ros.h:45, from /home/zhu2004/demo03_ws/src/plumbing_test/src/test01_pub_twist.cpp:1: /opt/ros/noetic/include/ros/node_handle.h:249:15: note: candidate: ‘template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, bool)’ 249 | Publisher advertise(const std::string& topic, uint32_t queue_size, bool latch = false) | ^~~~~~~~~ /opt/ros/noetic/include/ros/node_handle.h:249:15: note: template argument deduction/substitution failed: /home/zhu2004/demo03_ws/src/plumbing_test/src/test01_pub_twist.cpp:8:80: error: template argument 1 is invalid 8 | ros::Publisher pub=nh.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10); | ^ In file included from /opt/ros/noetic/include/ros/ros.h:45, from /home/zhu2004/demo03_ws/src/plumbing_test/src/test01_pub_twist.cpp:1: /opt/ros/noetic/include/ros/node_handle.h:315:13: note: candidate: ‘template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, const SubscriberStatusCallback&, const SubscriberStatusCallback&, const VoidConstPtr&, bool)’ 315 | Publisher advertise(const std::string& topic, uint32_t queue_size, | ^~~~~~~~~ /opt/ros/noetic/include/ros/node_handle.h:315:13: note: template argument deduction/substitution failed: /home/zhu2004/demo03_ws/src/plumbing_test/src/test01_pub_twist.cpp:8:80: error: template argument 1 is invalid 8 | ros::Publisher pub=nh.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10); | ^ /home/zhu2004/demo03_ws/src/plumbing_test/src/test01_pub_twist.cpp:10:5: error: ‘geometry_msgs’ is not a class, namespace, or enumeration 10 | geometry_msgs::Twist twist; | ^~~~~~~~~~~~~ /home/zhu2004/demo03_ws/src/plumbing_test/src/test01_pub_twist.cpp:11:5: error: ‘twist’ was not declared in this scope 11 | twist.linear.x=1.0; | ^~~~~ make[2]: *** [plumbing_test/CMakeFiles/test01_pub_twist.dir/build.make:63:plumbing_test/CMakeFiles/test01_pub_twist.dir/src/test01_pub_twist.cpp.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:1376:plumbing_test/CMakeFiles/test01_pub_twist.dir/all] 错误 2 make: *** [Makefile:141:all] 错误 2 Invoking "make -j4 -l4" failed

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