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  学习资源 社区运营 一键安装 FishROS2GO
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  dev
  libopencv-dnn-dev libopencv-dnn4.2 libopencv-features2d-dev
  libopencv-features2d4.2 libopencv-flann-dev libopencv-flann4.2
  libopencv-highgui-dev libopencv-highgui4.2 libopencv-imgcodecs-dev
  libopencv-imgcodecs4.2 libopencv-imgproc-dev libopencv-imgproc4.2
  libopencv-ml-dev libopencv-ml4.2 libopencv-objdetect-dev
  libopencv-objdetect4.2 libopencv-photo-dev libopencv-photo4.2
  libopencv-shape-dev libopencv-shape4.2 libopencv-stitching-dev
  libopencv-stitching4.2 libopencv-superres-dev libopencv-superres4.2
  libopencv-ts-dev libopencv-video-dev libopencv-video4.2
  libopencv-videoio-dev libopencv-videoio4.2 libopencv-videostab-dev
  libopencv-videostab4.2 libopencv-viz-dev libopencv-viz4.2 libopencv4.2-java
  libopencv4.2-jni libopenexr-dev libopenexr24 libopengl-dev libopengl0
  libopenjp2-7 libopenjp2-7-dev libopenmpi-dev libopenmpi3 libopenmpt0
  libopenni-dev libopenni-sensor-pointclouds0 libopenni0 libopenni2-0
  libopenni2-dev libopus0 liborc-0.4-0 liborocos-kdl-dev liborocos-kdl1.4
  libpam-fprintd libpam-gnome-keyring libpango1.0-dev libpangoxft-1.0-0
  libpaper-utils libpaper1 libpathplan4 libpcl-apps1.10 libpcl-common1.10
  libpcl-dev libpcl-features1.10 libpcl-filters1.10 libpcl-io1.10
  libpcl-kdtree1.10 libpcl-keypoints1.10 libpcl-ml1.10 libpcl-octree1.10
  libpcl-outofcore1.10 libpcl-people1.10 libpcl-recognition1.10
  libpcl-registration1.10 libpcl-sample-consensus1.10 libpcl-search1.10
  libpcl-segmentation1.10 libpcl-stereo1.10 libpcl-surface1.10
  libpcl-tracking1.10 libpcl-visualization1.10 libpcre16-3 libpcre2-16-0
  libpcre2-32-0 libpcre2-dev libpcre2-posix2 libpcre3-dev libpcre32-3
  libpcrecpp0v5 libpcsclite1 libpgm-5.2-0 libpgm-dev libphonenumber7
  libpixman-1-dev libplist3 libpmix2 libpng-dev libpng-tools libpoco-dev
  libpococrypto62 libpocodata62 libpocodatamysql62 libpocodataodbc62
  libpocodatasqlite62 libpocoencodings62 libpocofoundation62 libpocojson62
  libpocomongodb62 libpoconet62 libpoconetssl62 libpocoredis62 libpocoutil62
  libpocoxml62 libpocozip62 libpoppler-dev libpoppler-private-dev libpoppler97
  libpostproc-dev libpostproc55 libpq-dev libpq5 libproj-dev libproj15
  libprotobuf-dev libprotobuf-lite17 libprotobuf17 libprotoc-dev libprotoc17
  libpsm-infinipath1 libpsm2-2 libpthread-stubs0-dev libpulse-mainloop-glib0
  libpwquality-common libpwquality1 libpyside2-dev libpyside2-py3-5.14
  libpython3-dev libpython3.8-dev libqhull-dev libqhull-r7 libqhull7
  libqmi-glib5 libqmi-proxy libqt5concurrent5 libqt5core5a libqt5dbus5
  libqt5designer5 libqt5designercomponents5 libqt5gui5 libqt5help5
  libqt5network5 libqt5opengl5 libqt5opengl5-dev libqt5positioning5
  libqt5printsupport5 libqt5qml5 libqt5quick5 libqt5quickparticles5
  libqt5quickshapes5 libqt5quicktest5 libqt5quickwidgets5 libqt5sensors5
  libqt5sql5 libqt5sql5-sqlite libqt5svg5 libqt5test5 libqt5webchannel5
  libqt5webkit5 libqt5webkit5-dev libqt5widgets5 libqt5x11extras5 libqt5xml5
  libquadmath0 libqwt-qt5-6 libqwt-qt5-dev libraw1394-11 libraw1394-dev
  libraw1394-tools libraw19 librdmacm1 librhash0 librubberband2 libruby2.7
  librygel-core-2.6-2 librygel-db-2.6-2 librygel-renderer-2.6-2
  librygel-server-2.6-2 libsamplerate0 libsane libsane-common libsbc1
  libsctp-dev libsctp1 libsdformat9 libsdformat9-dev libsdl2-2.0-0
  libsecret-1-0 libsecret-common libselinux1-dev libsepol1-dev libserd-0-0
  libshiboken2-dev libshiboken2-py3-5.14 libshine3 libshout3 libsimbody-dev
  libsimbody3.6 libsm-dev libsmbclient libsnapd-glib1 libsnappy1v5 libsndio7.0
  libsnmp-base libsnmp35 libsocket++1 libsodium-dev libsord-0-0 libsoxr0
  libspatialite-dev libspatialite7 libspeex1 libspeexdsp1 libspnav0
  libsqlite3-dev libsratom-0-0 libssh-gcrypt-4 libssl-dev
  libstartup-notification0 libstdc++-10-dev libstdc++-7-dev libstdc++-9-dev
  libsub-override-perl libsuperlu-dev libsuperlu5 libswresample-dev
  libswresample3 libswscale-dev libswscale5 libsys-hostname-long-perl libsz2
  libtag1v5 libtag1v5-vanilla libtalloc2 libtar-dev libtar0 libtbb-dev libtbb2
  libtcl8.6 libteamdctl0 libtesseract4 libtevent0 libthai-dev libtheora-dev
  libtheora0 libtiff-dev libtiffxx5 libtinyxml-dev libtinyxml2-6a
  libtinyxml2-dev libtinyxml2.6.2v5 libtk8.6 libtool libtsan0 libturbojpeg
  libturbojpeg0-dev libtwolame0 libubsan0 libubsan1 libudisks2-0
  libupower-glib3 liburdfdom-dev liburdfdom-headers-dev liburdfdom-model
  liburdfdom-model-state liburdfdom-sensor liburdfdom-world liburiparser-dev
  liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libusbmuxd6 libv4l-0
  libv4lconvert0 libva-drm2 libva-x11-2 libva2 libvdpau1 libvidstab1.1
  libvisual-0.4-0 libvpx6 libvte-2.91-0 libvte-2.91-common libvtk6.3
  libvtk7-dev libvtk7-java libvtk7-jni libvtk7-qt-dev libvtk7.1p libvtk7.1p-qt
  libvulkan-dev libwacom-bin libwacom-common libwacom2 libwavpack1
  libwbclient0 libwebkit2gtk-4.0-37 libwebp-dev libwebpdemux2 libwebpmux3
  libwebrtc-audio-processing1 libwhoopsie-preferences0 libwhoopsie0 libwoff1
  libx11-dev libx264-155 libx265-179 libxatracker2 libxau-dev libxcb-icccm4
  libxcb-image0 libxcb-keysyms1 libxcb-render-util0 libxcb-render0-dev
  libxcb-res0 libxcb-shm0-dev libxcb-util1 libxcb-xinerama0 libxcb-xinput0
  libxcb-xkb1 libxcb-xv0 libxcb1-dev libxcomposite-dev libxcursor-dev
  libxdamage-dev libxdmcp-dev libxerces-c-dev libxerces-c3.2 libxext-dev
  libxfixes-dev libxfont2 libxft-dev libxi-dev libxinerama-dev
  libxkbcommon-x11-0 libxklavier16 libxml2-dev libxml2-utils libxmu-dev
  libxmu-headers libxnvctrl0 libxrandr-dev libxrender-dev libxslt1.1
  libxss-dev libxss1 libxt-dev libxvidcore4 libxvmc1 libyaml-cpp-dev
  libyaml-cpp0.6 libyaml-dev libyelp0 libzip-dev libzip5 libzmq3-dev libzmq5
  libzstd-dev libzvbi-common libzvbi0 libzzip-0-13 linux-libc-dev lm-sensors
  m4 make manpages-dev mesa-va-drivers mesa-vdpau-drivers
  mobile-broadband-provider-info modemmanager mousetweaks mpi-default-bin
  mpi-default-dev mutter mutter-common mysql-common network-manager
  network-manager-gnome network-manager-pptp ocl-icd-libopencl1 odbcinst
  odbcinst1debian2 opencv-data openmpi-bin openmpi-common openni-utils p11-kit
  p11-kit-modules pango1.0-tools pinentry-gnome3 pkg-config po-debconf
  poppler-data ppp pptp-linux proj-bin proj-data protobuf-compiler pulseaudio
  pulseaudio-module-bluetooth pyqt5-dev python-matplotlib-data
  python3-aptdaemon python3-aptdaemon.gtk3widgets python3-autobahn
  python3-bcrypt python3-cairo python3-catkin-pkg python3-catkin-pkg-modules
  python3-cbor python3-cups python3-cupshelpers python3-cycler
  python3-dateutil python3-defer python3-defusedxml python3-dev
  python3-docutils python3-empy python3-gnupg python3-ibus-1.0
  python3-kiwisolver python3-ldb python3-lz4 python3-macaroonbakery
  python3-matplotlib python3-mpi4py python3-nose python3-numpy python3-olefile
  python3-opencv python3-opengl python3-paramiko python3-pil python3-png
  python3-protobuf python3-psutil python3-pycryptodome python3-pydot
  python3-pygments python3-pykdl python3-pyparsing python3-pyqrcode
  python3-pyqt5 python3-pyqt5.qtopengl python3-pyqt5.qtsvg
  python3-pyqt5.qtwebkit python3-pyside2.qtcore python3-pyside2.qtgui
  python3-pyside2.qtsvg python3-pyside2.qtwidgets python3-rfc3339
  python3-roman python3-rosdep-modules python3-rosdistro-modules
  python3-rospkg python3-rospkg-modules python3-sip python3-sip-dev
  python3-snappy python3-talloc python3-tk python3-trie python3-txaio
  python3-tz python3-u-msgpack python3-ubjson python3-vtk7 python3-wsaccel
  python3.8-dev qdoc-qt5 qhelpgenerator-qt5 qt5-assistant
  qt5-gtk-platformtheme qt5-qmake qt5-qmake-bin qt5-qmltooling-plugins
  qtattributionsscanner-qt5 qtbase5-dev qtbase5-dev-tools qtchooser
  qtdeclarative5-dev qtdeclarative5-dev-tools qttools5-dev qttools5-dev-tools
  qttools5-private-dev qttranslations5-l10n rake ros-noetic-actionlib
  ros-noetic-actionlib-msgs ros-noetic-actionlib-tutorials ros-noetic-angles
  ros-noetic-bond ros-noetic-bond-core ros-noetic-bondcpp ros-noetic-bondpy
  ros-noetic-camera-calibration ros-noetic-camera-calibration-parsers
  ros-noetic-camera-info-manager ros-noetic-catkin ros-noetic-class-loader
  ros-noetic-cmake-modules ros-noetic-common-msgs ros-noetic-common-tutorials
  ros-noetic-compressed-depth-image-transport
  ros-noetic-compressed-image-transport ros-noetic-control-msgs
  ros-noetic-control-toolbox ros-noetic-controller-interface
  ros-noetic-controller-manager ros-noetic-controller-manager-msgs
  ros-noetic-cpp-common ros-noetic-cv-bridge ros-noetic-depth-image-proc
  ros-noetic-desktop ros-noetic-desktop-full ros-noetic-diagnostic-aggregator
  ros-noetic-diagnostic-analysis ros-noetic-diagnostic-common-diagnostics
  ros-noetic-diagnostic-msgs ros-noetic-diagnostic-updater
  ros-noetic-diagnostics ros-noetic-diff-drive-controller
  ros-noetic-dynamic-reconfigure ros-noetic-eigen-conversions
  ros-noetic-executive-smach ros-noetic-filters
  ros-noetic-forward-command-controller ros-noetic-gazebo-dev
  ros-noetic-gazebo-msgs ros-noetic-gazebo-plugins ros-noetic-gazebo-ros
  ros-noetic-gazebo-ros-control ros-noetic-gazebo-ros-pkgs ros-noetic-gencpp
  ros-noetic-geneus ros-noetic-genlisp ros-noetic-genmsg ros-noetic-gennodejs
  ros-noetic-genpy ros-noetic-geometry ros-noetic-geometry-msgs
  ros-noetic-geometry-tutorials ros-noetic-gl-dependency
  ros-noetic-hardware-interface ros-noetic-image-common
  ros-noetic-image-geometry ros-noetic-image-pipeline ros-noetic-image-proc
  ros-noetic-image-publisher ros-noetic-image-rotate
  ros-noetic-image-transport ros-noetic-image-transport-plugins
  ros-noetic-image-view ros-noetic-interactive-marker-tutorials
  ros-noetic-interactive-markers ros-noetic-joint-limits-interface
  ros-noetic-joint-state-controller ros-noetic-joint-state-publisher
  ros-noetic-joint-state-publisher-gui ros-noetic-kdl-conversions
  ros-noetic-kdl-parser ros-noetic-laser-assembler ros-noetic-laser-filters
  ros-noetic-laser-geometry ros-noetic-laser-pipeline
  ros-noetic-librviz-tutorial ros-noetic-map-msgs ros-noetic-media-export
  ros-noetic-message-filters ros-noetic-message-generation
  ros-noetic-message-runtime ros-noetic-mk ros-noetic-nav-msgs
  ros-noetic-nodelet ros-noetic-nodelet-core ros-noetic-nodelet-topic-tools
  ros-noetic-nodelet-tutorial-math ros-noetic-pcl-conversions
  ros-noetic-pcl-msgs ros-noetic-pcl-ros ros-noetic-perception
  ros-noetic-perception-pcl ros-noetic-pluginlib
  ros-noetic-pluginlib-tutorials ros-noetic-polled-camera
  ros-noetic-position-controllers ros-noetic-python-qt-binding
  ros-noetic-qt-dotgraph ros-noetic-qt-gui ros-noetic-qt-gui-cpp
  ros-noetic-qt-gui-py-common ros-noetic-qwt-dependency
  ros-noetic-realtime-tools ros-noetic-resource-retriever ros-noetic-robot
  ros-noetic-robot-state-publisher ros-noetic-ros ros-noetic-ros-base
  ros-noetic-ros-comm ros-noetic-ros-core ros-noetic-ros-environment
  ros-noetic-ros-tutorials ros-noetic-rosbag ros-noetic-rosbag-migration-rule
  ros-noetic-rosbag-storage ros-noetic-rosbash ros-noetic-rosboost-cfg
  ros-noetic-rosbuild ros-noetic-rosclean ros-noetic-rosconsole
  ros-noetic-rosconsole-bridge ros-noetic-roscpp ros-noetic-roscpp-core
  ros-noetic-roscpp-serialization ros-noetic-roscpp-traits
  ros-noetic-roscpp-tutorials ros-noetic-roscreate ros-noetic-rosgraph
  ros-noetic-rosgraph-msgs ros-noetic-roslang ros-noetic-roslaunch
  ros-noetic-roslib ros-noetic-roslint ros-noetic-roslisp ros-noetic-roslz4
  ros-noetic-rosmake ros-noetic-rosmaster ros-noetic-rosmsg ros-noetic-rosnode
  ros-noetic-rosout ros-noetic-rospack ros-noetic-rosparam ros-noetic-rospy
  ros-noetic-rospy-tutorials ros-noetic-rosservice ros-noetic-rostest
  ros-noetic-rostime ros-noetic-rostopic ros-noetic-rosunit ros-noetic-roswtf
  ros-noetic-rqt-action ros-noetic-rqt-bag ros-noetic-rqt-bag-plugins
  ros-noetic-rqt-common-plugins ros-noetic-rqt-console ros-noetic-rqt-dep
  ros-noetic-rqt-graph ros-noetic-rqt-gui ros-noetic-rqt-gui-cpp
  ros-noetic-rqt-gui-py ros-noetic-rqt-image-view ros-noetic-rqt-launch
  ros-noetic-rqt-logger-level ros-noetic-rqt-moveit ros-noetic-rqt-msg
  ros-noetic-rqt-nav-view ros-noetic-rqt-plot ros-noetic-rqt-pose-view
  ros-noetic-rqt-publisher ros-noetic-rqt-py-common ros-noetic-rqt-py-console
  ros-noetic-rqt-reconfigure ros-noetic-rqt-robot-dashboard
  ros-noetic-rqt-robot-monitor ros-noetic-rqt-robot-plugins
  ros-noetic-rqt-robot-steering ros-noetic-rqt-runtime-monitor
  ros-noetic-rqt-rviz ros-noetic-rqt-service-caller ros-noetic-rqt-shell
  ros-noetic-rqt-srv ros-noetic-rqt-tf-tree ros-noetic-rqt-top
  ros-noetic-rqt-topic ros-noetic-rqt-web ros-noetic-rviz
  ros-noetic-rviz-plugin-tutorials ros-noetic-rviz-python-tutorial
  ros-noetic-self-test ros-noetic-sensor-msgs ros-noetic-shape-msgs
  ros-noetic-simulators ros-noetic-smach ros-noetic-smach-msgs
  ros-noetic-smach-ros ros-noetic-smclib ros-noetic-stage ros-noetic-stage-ros
  ros-noetic-std-msgs ros-noetic-std-srvs ros-noetic-stereo-image-proc
  ros-noetic-stereo-msgs ros-noetic-tf ros-noetic-tf-conversions
  ros-noetic-tf2 ros-noetic-tf2-eigen ros-noetic-tf2-geometry-msgs
  ros-noetic-tf2-kdl ros-noetic-tf2-msgs ros-noetic-tf2-py ros-noetic-tf2-ros
  ros-noetic-theora-image-transport ros-noetic-topic-tools
  ros-noetic-trajectory-msgs ros-noetic-transmission-interface
  ros-noetic-turtle-actionlib ros-noetic-turtle-tf ros-noetic-turtle-tf2
  ros-noetic-turtlesim ros-noetic-urdf ros-noetic-urdf-parser-plugin
  ros-noetic-urdf-sim-tutorial ros-noetic-urdf-tutorial
  ros-noetic-vision-opencv ros-noetic-visualization-marker-tutorials
  ros-noetic-visualization-msgs ros-noetic-visualization-tutorials
  ros-noetic-viz ros-noetic-webkit-dependency ros-noetic-xacro
  ros-noetic-xmlrpcpp rtkit ruby ruby-minitest ruby-net-telnet
  ruby-power-assert ruby-test-unit ruby-xmlrpc ruby2.7 rubygems-integration
  rygel samba-libs sane-utils sbcl sdformat9-sdf session-migration sgml-base
  sgml-data shiboken2 sip-dev switcheroo-control system-config-printer
  system-config-printer-common system-config-printer-udev tango-icon-theme tcl
  tcl-dev tcl-vtk7 tcl8.6 tcl8.6-dev tk tk-dev tk8.6 tk8.6-blt2.5 tk8.6-dev
  ttf-bitstream-vera ttf-dejavu-core ubuntu-docs ubuntu-session
  ubuntu-wallpapers ubuntu-wallpapers-focal unixodbc-dev unzip update-inetd
  upower usb-modeswitch usb-modeswitch-data usbmuxd uuid-dev va-driver-all
  vdpau-driver-all vtk7 wamerican whoopsie-preferences wireless-regdb
  wpasupplicant x11-xkb-utils x11-xserver-utils x11proto-core-dev x11proto-dev
  x11proto-input-dev x11proto-randr-dev x11proto-scrnsaver-dev
  x11proto-xext-dev x11proto-xinerama-dev xbitmaps xdg-dbus-proxy xfonts-base
  xfonts-encodings xfonts-utils xml-core xorg-sgml-doctools xserver-common
  xserver-xephyr xserver-xorg xserver-xorg-core xserver-xorg-input-all
  xserver-xorg-input-libinput xserver-xorg-input-wacom xserver-xorg-legacy
  xserver-xorg-video-all xserver-xorg-video-amdgpu xserver-xorg-video-ati
  xserver-xorg-video-fbdev xserver-xorg-video-intel xserver-xorg-video-nouveau
  xserver-xorg-video-qxl xserver-xorg-video-radeon xserver-xorg-video-vesa
  xserver-xorg-video-vmware xterm xtrans-dev xwayland yaru-theme-gnome-shell
  yelp yelp-xsl zenity zenity-common zip zlib1g-dev
  0 upgraded, 1503 newly installed, 0 to remove and 6 not upgraded.
  Need to get 54.7 kB/801 MB of archives.
  After this operation, 4734 MB of additional disk space will be used.
  Err:1 https://mirrors.ustc.edu.cn/ros2/ubuntu focal/main amd64 python3-rosdep-modules all 0.26.0-1
  404 Not Found [IP: 202.38.95.110 443]
  ====================ERR====================
  Execute Command: sudo apt install python3-rosdep -y Error Code100
  ====================OUT====================
  Reading package lists...
  Building dependency tree...
  Reading state information...
  The following additional packages will be installed:
  python3-rosdep-modules python3-rosdistro-modules python3-rospkg-modules
  The following NEW packages will be installed:
  python3-rosdep python3-rosdep-modules python3-rosdistro-modules
  python3-rospkg-modules
  0 upgraded, 4 newly installed, 0 to remove and 6 not upgraded.
  Need to get 58.0 kB/118 kB of archives.
  After this operation, 801 kB of additional disk space will be used.
  Err:1 https://mirrors.ustc.edu.cn/ros2/ubuntu focal/main amd64 python3-rosdep-modules all 0.26.0-1
  404 Not Found [IP: 202.38.95.110 443]
  Err:2 https://mirrors.ustc.edu.cn/ros2/ubuntu focal/main amd64 python3-rosdep all 0.26.0-1
  404 Not Found [IP: 202.38.95.110 443]
  ====================ERR====================
  Execute Command: ls /opt/ros/noetic/setup.bash Error Code2
  ====================OUT====================
  ====================ERR====================
  ls: cannot access '/opt/ros/noetic/setup.bash': No such file or directory
  Execute Command: ls /opt/ros/noetic/setup.bash Error Code2
  ====================OUT====================
  ====================ERR====================
  ls: cannot access '/opt/ros/noetic/setup.bash': No such file or directory

• 产品&店铺

  鱼香ROS 店铺&产品相关问题

  FishBot二驱机器人 FishBot四驱机器人V2 多协议传输控制器
  494
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  9

  我的相机模块有图像传入,但是不能配置参数
  574bb8b0-a33e-4624-9548-aa74df6c3c7b-image.png

  5467c2d6-03bc-420c-b46c-3240eb3d6e31-image.png

• VIP问答专区

  针对社区VIP用户问答专区

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  A

  请问左右轮速度不一致 导致小车不走直线要怎么调整

• ROS2机器人开发：从入门到实践

  《ROS2机器人开发：从入门到实践》书籍配套资料答疑专区

  ROS 2相关问题
  1.2k
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  S

  遇到了ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888后没有输出的问题。
  遇到了单片机串口监听会有如下类似输出：

  Guru Meditation Error: Core 1 panic'ed (IllegalInstruction). Exception was unhandled. Memory dump at 0x400d2cb0: 6cab6520 04adf01d e5201110 Core 1 register dump: PC : 0x400d2cb4 PS : 0x00060730 A0 : 0x00000000 A1 : 0x3ffb4a70 A2 : 0x3ffc3d40 A3 : 0x3ffc3cb8 A4 : 0x3ffc3d74 A5 : 0x00000000 A6 : 0x00000000 A7 : 0x00000000 A8 : 0x800d2cb4 A9 : 0x3ffb4a50 A10 : 0x00000001 A11 : 0xfffffffd A12 : 0x00000000 A13 : 0x00000000 A14 : 0x00000001 A15 : 0x3ffc3cb8 SAR : 0x00000020 EXCCAUSE: 0x00000000 EXCVADDR: 0x00000000 LBEG : 0x40084681 LEND : 0x40084689 LCOUNT : 0x00000027 Backtrace: 0x400d2cb1:0x3ffb4a70 ELF file SHA256: 49c2f071dd978ec8 Rebooting... ets Jul 29 2019 12:21:46 rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT) configsip: 0, SPIWP:0xee clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 mode:DIO, clock div:2 load:0x3fff0030,len:1184 load:0x40078000,len:13232 load:0x40080400,len:3028 entry 0x400805e4

  解决办法检查ip是否正确（wsl2可以开镜像模式，不会的问问ai）。检查WiFi是否连上，wsl用户确保防火墙给过（我就是wifi连上但是防火墙问题，也可以问问ai），wifi质量。
  调试的时候在代码里多加一点打印函数以确保知道哪一步出问题了。

  void microros_task(void *args) { // 1.设置传输协议并延迟一段时间等待设置的完成。 IPAddress agent_ip; // 用来存储 IP 地址。 agent_ip.fromString("xxx"); // 电脑/手机当前的IP地址。 set_microros_wifi_transports("xxx", "xxx", agent_ip, 8888); // 设置传输协议。告诉机器人连名称为“xxx”的WiFi，密码为“xxx”。之后去往代理服务器的IP地址为xxx，端口号为8888的地方发消息。 Serial.print("WiFi status: "); Serial.println(WiFi.status() == WL_CONNECTED ? "Connected" : "Failed"); // 判断wifi是否连接上，ture则"Connected"，false则"Failed"。 if (WiFi.status() == WL_CONNECTED) { Serial.print("IP: "); Serial.println(WiFi.localIP()); } delay(2000); // 等待2秒，等待wifi连接。 // 2.初始化内存分配器。 allocator = rcl_get_default_allocator(); // 获取默认的内存分配器。 // 3.初始化支持，并检查错误。 if (rclc_support_init(&support, 0, NULL, &allocator) != RCL_RET_OK) { Serial.println("support init failed"); } // 初始化支持。使用这个默认的内存分配器 allocator（它使用标准的 malloc 和 free），在没有任何命令行参数的情况下，帮我初始化好 ROS 2 客户端库的底层环境，并把所有初始化好的状态信息都保存在 support 这个结构体里，供我后续创建节点使用。 // 4.初始化节点，并检查错误。 if (rclc_node_init_default(&node, "fishbot_motion_control", "", &support) != RCL_RET_OK) { Serial.println("node init failed"); } // 初始化节点。在由 support 提供的运行环境中，创建一个名为 fishbot_motion_control 的节点，它位于全局命名空间（""），并把这个节点的所有状态信息保存在 node 这个结构体里。 // 5.初始化执行器，并检查错误。 unsigned int num_handles = 1; // 订阅和计时器的数量，注意这是一个要改的参数（句柄的数量）。大概，比如我设置5，它就有了5个槽位，编号0-4。现在比如0-3我填满了（有东西要执行），他就会去依次询问0-3有没有执行（有没有消息），没执行要去执行他们对应的功能（有消息回调）。句柄 = 唯一识别号。 if (rclc_executor_init(&executor, &support.context, 1, &allocator) != RCL_RET_OK) { Serial.println("executor init failed"); } // 初始化执行器。使用 allocator 这个内存分配器，在 support.context 提供的 ROS 通信上下文里，初始化一个执行器 executor，让它能够管理 num_handles 个句柄（比如x个订阅者或定时器）。 // 6.初始化订阅者，并将其添加到执行器中。 rclc_subscription_init_best_effort(&sub_cmd_vel, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist), "/cmd_vel"); // 订阅者句柄地址，节点句柄地址，消息类型支持（什么类型的消息）（地址），话题名称（订阅哪个话题）。ROSIDL_GET_MSG_TYPE_SUPPORT 是 ROS 2 C语言客户端库（rclc）中一个非常重要的预处理宏，它就像是订阅者与特定消息类型之间的"桥梁"或"身份证"。 rclc_executor_add_subscription(&executor, &sub_cmd_vel, &msg_cmd_vel, twist_callback, ON_NEW_DATA); // 执行器句柄地址，订阅者句柄地址，存放接收到的消息的内存空间的地址（消息缓冲区），回调函数，触发条件：有新数据时触发，一收到消息就执行回调。 // 7.循环执行器。 rclc_executor_spin(&executor); // 循环执行器。它会持续地、反复地检查所有已添加到执行器的句柄（如订阅者、定时器），并处理它们对应的回调函数。只要 ROS 2 的上下文（context）保持有效，这个循环就不会停止. // // spin 返回说明上下文已失效;不要跑完任务,直接挂起: // while (1) { vTaskDelay(pdMS_TO_TICKS(1000)); } // 或 vTaskDelete(NULL); }

  此外，调试的时候在setup里的打印串口不一定来得及显示，故setup（）中别忘了延迟。

  void setup() { // 初始化串口。 Serial.begin(115200); // 初始化串口通信，波特率为115200 // delay(5000); // 测试使用，确保串口能监视。

  测试时，ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888一直开着，小车复位就行。

  我之前串口显示：

  WiFi status: Connected IP: xxx support init failed node init failed

  windows下打开powershell（管理员）

  New-NetFirewallRule -DisplayName "Micro-ROS Agent" -Direction Inbound -Action Allow -Protocol UDP -LocalPort 8888

  后来就没有问题了。

  ~/chapt9/fishbot_ws$ ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 [1788770845.577995] info | UDPv4AgentLinux.cpp | init | running... | port: 8888 [1788770845.578219] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4 [1788770856.901357] info | Root.cpp | create_client | create | client_key: 0x2DA90876, session_id: 0x81 [1788770856.901571] info | SessionManager.hpp | establish_session | session established | client_key: 0x2DA90876, address: xxx [1788770857.263512] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x2DA90876, participant_id: 0x000(1) [1788770857.460412] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x2DA90876, topic_id: 0x000(2), participant_id: 0x000(1) [1788770857.714279] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x2DA90876, subscriber_id: 0x000(4), participant_id: 0x000(1) [1788770857.743909] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x2DA90876, datareader_id: 0x000(6), subscriber_id: 0x000(4) [1788771241.953583] info | Root.cpp | delete_client | delete | client_key: 0x2DA90876 [1788771241.953708] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x2DA90876, address: xxx [1788771241.953756] info | Root.cpp | create_client | create | client_key: 0x332EE297, session_id: 0x81 [1788771241.953773] info | SessionManager.hpp | establish_session | session established | client_key: 0x332EE297, address: xxx [1788771242.306195] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x332EE297, participant_id: 0x000(1) [1788771242.369915] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x332EE297, topic_id: 0x000(2), participant_id: 0x000(1) [1788771242.511903] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x332EE297, subscriber_id: 0x000(4), participant_id: 0x000(1) [1788771242.601624] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x332EE297, datareader_id: 0x000(6), subscriber_id: 0x000(4)

  以及

  ~/chapt9/fishbot_ws$ ros2 node list /fishbot_motion_control
• 综合问题

  综合问题讨论版块 | 版主 @吴凯荣 @小鱼

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  @小鱼 鱼哥怎么解决呀，我也出现这问题

• 机械臂力控板块

  机械臂力控板块 | 版主： @陆门马

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

  机械臂，遥操作+加力反馈，如何实现？

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

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

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

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

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

  六个电机，组成两个三自由度机械臂。一个can通道控制一个机械臂。

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

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

  其中：主臂位置发送给从臂的逻辑好理解。

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

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

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

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

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

  这又是一个神奇的操作。就是让从臂有期望速度。作用就是会影响操作手感。

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

  ok这就是整个的实现逻辑，非常简陋。

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

• 历史归档板块

  移动机器人制作 机器人相关领域 机械臂运动规划
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  @202305060223 我用的是串口传输数据