Source not found for ClassLoader.findBootstrapClass(String) line: not available

最新推荐文章于 2022-11-23 19:32:18 发布
最新推荐文章于 2022-11-23 19:32:18 发布 · 415 阅读 · 0
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#Java #Windows 


Source not found for ClassLoader.findBootstrapClass(String) line: not available [native method]


异常信息：
解决：(1)在Rum========>>Remove all breakpoits
(2)在windows=====>>preference====>java===>debug====>Remove all breakpoints
Apache Hudi - 1 - quick-start-guide 快速入门
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tensorflow1.14-libtensorflow_framework.so.1 cannot open shared object file no such file or directory
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简介 在下是刚毕业的小萌新，现在在一家股票资讯公司做Java开发，身在nlp小组，自然要接触很多模型，我的任务就是tensoflow模型的工程部署，前不久我们开始使用tensorflow1.14，Estimator真香。所以对应Java这边也需要使用tf1.14导入graph，这里就来说说官方jar包的问题。 报错 Windows下无异常，Linux下服务启动时报：libtensorflow_fr...
Source not found for ClassLoader.findBootstrapClass(String) line: not available [native method]
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在Run========>>Remove all breakpoits 在windows=====>>preference====>java===>debug====>Remove all breakpoints
class app classes mysql not found_连接mysql问题，Source not found for WebappClassLoader.loadClass...
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在一般的javaapplication里可以连接数据库，但是在含有javabeanweb程序里老是出现错误：当执行Class.forName("com.mysql.jdbc.Driver").newInstance()时出错，跟踪调试是这个错误：So...在一般的java application里可以连接数据库，但是在含有javabean web程序里老是出现错误：当执行 Class.forNam...
找不到 URLClassLoader$1.run() 行： 不可用 的源
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tomcat7Server [远程 Java 应用程序] 本地主机 1181 处的 org.apache.catalina.startup.Bootstrap 线程 [main]（已暂挂（异常 ClassNotFoundException）） URLClassLoader$1.run() 行： 不可用 URLClassLoader$1.run() 行： 不可用 Acc
Eclipse中查看JAVA源代码显示SOURCE NOT FOUND解决办法
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Eclipse中查看JAVA源码显示SOURCE NOT FOUND解决办法 写代码或者看别人代码的时候总想知道引用函数的内部构造。快捷键Ctrl+鼠标左键快捷查看源码，不过小白在开始使用的时候一般未关联源码，显示Source not found. Java所有类的源码点击 link 提取码：3rhr 点开Attach Source 看到 Workspace location 和 Exter...
遇到糟心的事情-debug时总提示Source not found.
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前提：本人还是用eclipse 开发 Java EE 的Web项目，java 8，Tomcat 8 问题：某天下午debug时出现之前没有遇到过的报错，出现一个页面显示如下 Source not found. [一个选择source的按钮] 1.漫漫的解决过程探索 首先，点击出现的页面上的选择按钮，在弹出框中选中本次要调试的项目，没法解决。 然后，查看调试提示框的报错，如下： Tomcat v8.5 Server at localhost [Apache Tomcat] org.apache.cat
uiautomator开发使用到第三方jar,出现class not found或者 BUILD FAILED的问题
一叶知秋的专栏
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最近做安卓的遍历测试，是基于uiautomator做的，二次开发，避免不了使用第三方jar，比如这边我使用到的就是xStream，但是在打包的过程中会出现 classNotFound或者是Build Failed的问题。 这里有两个原因： 1、编译的时候，没有把jar包添加进来，这时候的体现一般是报BUILD FAILED的错误。 2、jar包添加进来了，没有把jar下的class
y@y-Dell-G15-5511:~$ cd ~/colcon_ws colcon build --packages-select learning_gazebo franka_robot_ign_pkg --symlink-install source install/setup.bash export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$HOME/colcon_ws/install/franka_description/share/franka_description:$HOME/colcon_ws/src/franka_description ros2 launch franka_robot_ign_pkg load_car_arm_into_ign.launch.py Starting >>> franka_robot_ign_pkg Starting >>> learning_gazebo Finished <<< franka_robot_ign_pkg [0.25s] Finished <<< learning_gazebo [0.82s] Summary: 2 packages finished [1.23s] [INFO] [launch]: All log files can be found below /home/y/.ros/log/2025-10-21-10-59-56-597850-y-Dell-G15-5511-63420 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ign gazebo-1]: process started with pid [63421] [INFO] [create-2]: process started with pid [63423] [INFO] [robot_state_publisher-3]: process started with pid [63426] [INFO] [parameter_bridge-4]: process started with pid [63428] [INFO] [ros2_control_node-5]: process started with pid [63430] [create-2] [INFO] [1761015597.098326194] [ros_gz_sim]: Requesting list of world names. [ros2_control_node-5] [WARN] [1761015597.102026634] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ros2_control_node-5] text not specified in the prefix tag [ros2_control_node-5] text not specified in the robot_ip tag [ros2_control_node-5] text not specified in the arm_prefix tag [ros2_control_node-5] [INFO] [1761015597.103024511] [resource_manager]: Loading hardware 'MbotBase' [ros2_control_node-5] terminate called after throwing an instance of 'pluginlib::LibraryLoadException' [ros2_control_node-5] what(): According to the loaded plugin descriptions the class ign_ros2_control/IgnitionSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are fake_components/GenericSystem mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system test_unitilizable_system [ros2_control_node-5] Stack trace (most recent call last): [ros2_control_node-5] #21 Object "", at 0xffffffffffffffff, in [ros2_control_node-5] #20 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x5593c1dbb7a4, in _start [robot_state_publisher-3] [INFO] [1761015597.111174407] [robot_state_publisher]: got segment back_caster_link [robot_state_publisher-3] [INFO] [1761015597.111261558] [robot_state_publisher]: got segment base [robot_state_publisher-3] [INFO] [1761015597.111268179] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-3] [INFO] [1761015597.111271931] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1761015597.111275913] [robot_state_publisher]: got segment fr3_hand [robot_state_publisher-3] [INFO] [1761015597.111279344] [robot_state_publisher]: got segment fr3_hand_tcp [robot_state_publisher-3] [INFO] [1761015597.111282323] [robot_state_publisher]: got segment fr3_leftfinger [robot_state_publisher-3] [INFO] [1761015597.111285142] [robot_state_publisher]: got segment fr3_link0 [robot_state_publisher-3] [INFO] [1761015597.111287986] [robot_state_publisher]: got segment fr3_link1 [robot_state_publisher-3] [INFO] [1761015597.111290713] [robot_state_publisher]: got segment fr3_link2 [robot_state_publisher-3] [INFO] [1761015597.111293486] [robot_state_publisher]: got segment fr3_link3 [robot_state_publisher-3] [INFO] [1761015597.111296242] [robot_state_publisher]: got segment fr3_link4 [robot_state_publisher-3] [INFO] [1761015597.111299982] [robot_state_publisher]: got segment fr3_link5 [robot_state_publisher-3] [INFO] [1761015597.111304168] [robot_state_publisher]: got segment fr3_link6 [robot_state_publisher-3] [INFO] [1761015597.111308966] [robot_state_publisher]: got segment fr3_link7 [robot_state_publisher-3] [INFO] [1761015597.111313266] [robot_state_publisher]: got segment fr3_link8 [robot_state_publisher-3] [INFO] [1761015597.111318111] [robot_state_publisher]: got segment fr3_rightfinger [robot_state_publisher-3] [INFO] [1761015597.111322888] [robot_state_publisher]: got segment front_caster_link [robot_state_publisher-3] [INFO] [1761015597.111327495] [robot_state_publisher]: got segment left_wheel_link [robot_state_publisher-3] [INFO] [1761015597.111332362] [robot_state_publisher]: got segment rgbd_camera_frame [robot_state_publisher-3] [INFO] [1761015597.111337056] [robot_state_publisher]: got segment right_wheel_link [parameter_bridge-4] [INFO] [1761015597.116708178] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/points (ignition.msgs.PointCloudPacked) -> /d435/depth_camera/points (sensor_msgs/msg/PointCloud2)] (Lazy 0) [parameter_bridge-4] [INFO] [1761015597.118111416] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/points (sensor_msgs/msg/PointCloud2) -> /d435/depth_camera/points (ignition.msgs.PointCloudPacked)] (Lazy 0) [parameter_bridge-4] [INFO] [1761015597.118555704] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/camera_info (ignition.msgs.CameraInfo) -> /d435/depth_camera/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0) [parameter_bridge-4] [INFO] [1761015597.118940676] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/camera_info (sensor_msgs/msg/CameraInfo) -> /d435/depth_camera/camera_info (ignition.msgs.CameraInfo)] (Lazy 0) [parameter_bridge-4] [INFO] [1761015597.119257287] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/image (ignition.msgs.Image) -> /d435/depth_camera/image (sensor_msgs/msg/Image)] (Lazy 0) [parameter_bridge-4] [INFO] [1761015597.119558886] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/image (sensor_msgs/msg/Image) -> /d435/depth_camera/image (ignition.msgs.Image)] (Lazy 0) [parameter_bridge-4] [INFO] [1761015597.119836591] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/depth_image (ignition.msgs.Image) -> /d435/depth_camera/depth_image (sensor_msgs/msg/Image)] (Lazy 0) [parameter_bridge-4] [INFO] [1761015597.120069434] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/depth_image (sensor_msgs/msg/Image) -> /d435/depth_camera/depth_image (ignition.msgs.Image)] (Lazy 0) [parameter_bridge-4] [INFO] [1761015597.120330272] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/ign/joint_states (ignition.msgs.JointState) -> /ign/joint_states (sensor_msgs/msg/JointState)] (Lazy 0) [parameter_bridge-4] [WARN] [1761015597.120391377] [ros_gz_bridge]: Failed to create a bridge for topic [/ign/joint_states] with ROS2 type [sensor_msgs/msg/JointState] to topic [/ign/joint_states] with Gazebo Transport type [ignition.msgs.JointState] [ros2_control_node-5] #19 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x70a361829e3f] [ros2_control_node-5] #18 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x70a361829d8f] [ros2_control_node-5] #17 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x5593c1dbad8a, in main [ros2_control_node-5] #16 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x5593c1dbf3b6, in std::__shared_ptr<controller_manager::ControllerManager, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<controller_manager::ControllerManager>, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&>(std::_Sp_alloc_shared_tag<std::allocator<controller_manager::ControllerManager> >, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) [ros2_control_node-5] #15 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x5593c1dbdfd5, in void __gnu_cxx::new_allocator<controller_manager::ControllerManager>::construct<controller_manager::ControllerManager, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&>(controller_manager::ControllerManager*, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) [clone .isra.0] [ros2_control_node-5] #14 Object "/home/y/colcon_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x70a3621ccf30, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) [ros2_control_node-5] #13 Object "/home/y/colcon_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x70a3621cc0ef, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) [ros2_control_node-5] #12 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a36176c602, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) [ros2_control_node-5] #11 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a361776cde, in hardware_interface::ResourceStorage::load_and_initialize_system(hardware_interface::HardwareInfo const&) [ros2_control_node-5] #10 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a361776aa4, in auto hardware_interface::ResourceStorage::load_and_initialize_system(hardware_interface::HardwareInfo const&)::{lambda(auto:1&)#1}::operator()<std::vector<hardware_interface::System, std::allocator<hardware_interface::System> > >(std::vector<hardware_interface::System, std::allocator<hardware_interface::System> >&) const [ros2_control_node-5] #9 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a36177c5b8, in void hardware_interface::ResourceStorage::load_hardware<hardware_interface::System, hardware_interface::SystemInterface>(hardware_interface::HardwareInfo const&, pluginlib::ClassLoader<hardware_interface::SystemInterface>&, std::vector<hardware_interface::System, std::allocator<hardware_interface::System> >&) [ros2_control_node-5] #8 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a3617856f8, in pluginlib::ClassLoader<hardware_interface::SystemInterface>::createUnmanagedInstance(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) [ros2_control_node-5] #7 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x70a3617932b2, in pluginlib::ClassLoader<hardware_interface::SystemInterface>::loadLibraryForClass(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) [ros2_control_node-5] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x70a361cae4d7, in __cxa_throw [ros2_control_node-5] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x70a361cae276, in std::terminate() [ros2_control_node-5] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x70a361cae20b, in [ros2_control_node-5] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x70a361ca2b9d, in [ros2_control_node-5] #2 Source "./stdlib/abort.c", line 79, in abort [0x70a3618287f2] [ros2_control_node-5] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x70a361842475] [ros2_control_node-5] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal [ros2_control_node-5] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation [ros2_control_node-5] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x70a3618969fc] [ros2_control_node-5] Aborted (Signal sent by tkill() 63430 1000) [ERROR] [ros2_control_node-5]: process has died [pid 63430, exit code -6, cmd '/home/y/colcon_ws/install/controller_manager/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_kj56e4y8 --params-file /home/y/colcon_ws/install/franka_robot_ign_pkg/share/franka_robot_ign_pkg/config/combined_control.yaml']. [create-2] [INFO] [1761015597.299843011] [ros_gz_sim]: Waiting messages on topic [robot_description]. [create-2] [INFO] [1761015597.310986549] [ros_gz_sim]: Requested creation of entity. [create-2] [INFO] [1761015597.311007217] [ros_gz_sim]: OK creation of entity. [INFO] [create-2]: process has finished cleanly [pid 63423] [ign gazebo-1] libEGL warning: egl: failed to create dri2 screen [ign gazebo-1] libEGL warning: egl: failed to create dri2 screen [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:473] Could not resolve file [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [MeshManager.cc:173] Unable to find file[model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:562] Cannot load null mesh [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:125] Failed to get Ogre item for [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [SceneManager.cc:404] Failed to load geometry for visual: fr3_link7_fixed_joint_lump__fr3_hand_visual_visual_1 [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:473] Could not resolve file [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [MeshManager.cc:173] Unable to find file[model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:562] Cannot load null mesh [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:125] Failed to get Ogre item for [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [SceneManager.cc:404] Failed to load geometry for visual: fr3_leftfinger_visual_visual [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:473] Could not resolve file [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [MeshManager.cc:173] Unable to find file[model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:562] Cannot load null mesh [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:125] Failed to get Ogre item for [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [SceneManager.cc:404] Failed to load geometry for visual: fr3_rightfinger_visual_visual [INFO] [spawner-6]: process started with pid [63636] [spawner-6] [INFO] [1761015601.336484276] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [INFO] [spawner-7]: process started with pid [63647] [spawner-7] [INFO] [1761015602.675100480] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-6] [WARN] [1761015611.349752514] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers [spawner-6] [INFO] [1761015611.350203521] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [WARN] [1761015612.687883968] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers [spawner-7] [INFO] [1761015612.688196307] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-6] [WARN] [1761015621.363558351] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers [spawner-6] [INFO] [1761015621.363927475] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [WARN] [1761015622.701563053] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers [spawner-7] [INFO] [1761015622.702023037] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-6] [WARN] [1761015631.376885708] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers [spawner-6] [INFO] [1761015631.377258977] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [WARN] [1761015632.715195159] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers [spawner-7] [INFO] [1761015632.715501976] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-6] [WARN] [1761015641.390840526] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers [spawner-6] [INFO] [1761015641.391161955] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [WARN] [1761015642.728738193] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers [spawner-7] [INFO] [1761015642.729250916] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-6] [WARN] [1761015651.404737919] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers [spawner-6] [INFO] [1761015651.405213382] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [WARN] [1761015652.743278709] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers [spawner-7] [INFO] [1761015652.743677785] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-6] [WARN] [1761015661.418379278] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers [spawner-6] [INFO] [1761015661.418844919] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [WARN] [1761015662.756565307] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers [spawner-7] [INFO] [1761015662.756932333] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-6] [WARN] [1761015671.432476371] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers [spawner-6] [INFO] [1761015671.432818192] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [WARN] [1761015672.770154595] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers [spawner-7] [INFO] [1761015672.770469213] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-6] [WARN] [1761015681.445747649] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers [spawner-6] [INFO] [1761015681.446056000] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [WARN] [1761015682.782932902] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers [spawner-7] [INFO] [1761015682.783458513] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
最新发布
10-22
source /home/y/colcon_ws/install/setup.bash ``` --- #### 步骤2：解决模型文件缺失 1. **确认URDF/SDF文件路径**： - 检查启动文件（如`.launch.py`）中加载模型的代码： ```python robot_description = ...
y@y-Dell-G15-5511:~$ cd ~/colcon_ws source install/setup.bash --extend y@y-Dell-G15-5511:~/colcon_ws$ export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:~/colcon_ws/src/franka_description:~/colcon_ws/src/Use_Pkg/learning_gazebo y@y-Dell-G15-5511:~/colcon_ws$ ros2 launch franka_robot_ign_pkg load_car_arm_into_ign.launch.py [INFO] [launch]: All log files can be found below /home/y/.ros/log/2025-10-16-20-13-42-517263-y-Dell-G15-5511-74541 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ign gazebo-1]: process started with pid [74553] [INFO] [create-2]: process started with pid [74555] [INFO] [robot_state_publisher-3]: process started with pid [74558] [INFO] [parameter_bridge-4]: process started with pid [74560] [INFO] [ros2_control_node-5]: process started with pid [74562] [INFO] [spawner-6]: process started with pid [74564] [INFO] [spawner-7]: process started with pid [74566] [create-2] [INFO] [1760616823.022695530] [ros_gz_sim]: Requesting list of world names. [ros2_control_node-5] [WARN] [1760616823.022968801] [controller_manager]: 'update_rate' parameter not set, using default value. [ros2_control_node-5] [WARN] [1760616823.023065134] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ros2_control_node-5] text not specified in the prefix tag [ros2_control_node-5] text not specified in the robot_ip tag [ros2_control_node-5] text not specified in the arm_prefix tag [ros2_control_node-5] [INFO] [1760616823.023693853] [resource_manager]: Loading hardware 'MbotBase' [ros2_control_node-5] terminate called after throwing an instance of 'pluginlib::LibraryLoadException' [ros2_control_node-5] what(): According to the loaded plugin descriptions the class ign_ros2_control/IgnitionSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are fake_components/GenericSystem mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system test_unitilizable_system [ros2_control_node-5] Stack trace (most recent call last): [ros2_control_node-5] #21 Object "", at 0xffffffffffffffff, in [ros2_control_node-5] #20 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x58a1df12c7a4, in _start [robot_state_publisher-3] [INFO] [1760616823.036001466] [robot_state_publisher]: got segment back_caster_link [robot_state_publisher-3] [INFO] [1760616823.036123876] [robot_state_publisher]: got segment base [robot_state_publisher-3] [INFO] [1760616823.036134330] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-3] [INFO] [1760616823.036140859] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1760616823.036146777] [robot_state_publisher]: got segment fr3_hand [robot_state_publisher-3] [INFO] [1760616823.036152513] [robot_state_publisher]: got segment fr3_hand_tcp [robot_state_publisher-3] [INFO] [1760616823.036158868] [robot_state_publisher]: got segment fr3_leftfinger [robot_state_publisher-3] [INFO] [1760616823.036163981] [robot_state_publisher]: got segment fr3_link0 [robot_state_publisher-3] [INFO] [1760616823.036173524] [robot_state_publisher]: got segment fr3_link1 [robot_state_publisher-3] [INFO] [1760616823.036178657] [robot_state_publisher]: got segment fr3_link2 [robot_state_publisher-3] [INFO] [1760616823.036184140] [robot_state_publisher]: got segment fr3_link3 [robot_state_publisher-3] [INFO] [1760616823.036189091] [robot_state_publisher]: got segment fr3_link4 [robot_state_publisher-3] [INFO] [1760616823.036193819] [robot_state_publisher]: got segment fr3_link5 [robot_state_publisher-3] [INFO] [1760616823.036198681] [robot_state_publisher]: got segment fr3_link6 [robot_state_publisher-3] [INFO] [1760616823.036203976] [robot_state_publisher]: got segment fr3_link7 [robot_state_publisher-3] [INFO] [1760616823.036209406] [robot_state_publisher]: got segment fr3_link8 [robot_state_publisher-3] [INFO] [1760616823.036214026] [robot_state_publisher]: got segment fr3_rightfinger [robot_state_publisher-3] [INFO] [1760616823.036218421] [robot_state_publisher]: got segment front_caster_link [robot_state_publisher-3] [INFO] [1760616823.036222604] [robot_state_publisher]: got segment left_wheel_link [robot_state_publisher-3] [INFO] [1760616823.036227093] [robot_state_publisher]: got segment rgbd_camera_frame [robot_state_publisher-3] [INFO] [1760616823.036231928] [robot_state_publisher]: got segment right_wheel_link [parameter_bridge-4] [INFO] [1760616823.043048133] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/points (ignition.msgs.PointCloudPacked) -> /d435/depth_camera/points (sensor_msgs/msg/PointCloud2)] (Lazy 0) [parameter_bridge-4] [INFO] [1760616823.045247676] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/points (sensor_msgs/msg/PointCloud2) -> /d435/depth_camera/points (ignition.msgs.PointCloudPacked)] (Lazy 0) [parameter_bridge-4] [INFO] [1760616823.045889521] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/camera_info (ignition.msgs.CameraInfo) -> /d435/depth_camera/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0) [parameter_bridge-4] [INFO] [1760616823.046486108] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/camera_info (sensor_msgs/msg/CameraInfo) -> /d435/depth_camera/camera_info (ignition.msgs.CameraInfo)] (Lazy 0) [parameter_bridge-4] [INFO] [1760616823.046971579] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/image (ignition.msgs.Image) -> /d435/depth_camera/image (sensor_msgs/msg/Image)] (Lazy 0) [parameter_bridge-4] [INFO] [1760616823.047420273] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/image (sensor_msgs/msg/Image) -> /d435/depth_camera/image (ignition.msgs.Image)] (Lazy 0) [parameter_bridge-4] [INFO] [1760616823.047840727] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/d435/depth_camera/depth_image (ignition.msgs.Image) -> /d435/depth_camera/depth_image (sensor_msgs/msg/Image)] (Lazy 0) [parameter_bridge-4] [INFO] [1760616823.048154406] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/d435/depth_camera/depth_image (sensor_msgs/msg/Image) -> /d435/depth_camera/depth_image (ignition.msgs.Image)] (Lazy 0) [parameter_bridge-4] [INFO] [1760616823.048477241] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/ign/joint_states (ignition.msgs.JointState) -> /ign/joint_states (sensor_msgs/msg/JointState)] (Lazy 0) [parameter_bridge-4] [WARN] [1760616823.048564185] [ros_gz_bridge]: Failed to create a bridge for topic [/ign/joint_states] with ROS2 type [sensor_msgs/msg/JointState] to topic [/ign/joint_states] with Gazebo Transport type [ignition.msgs.JointState] [ros2_control_node-5] #19 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7d77c8a29e3f] [ros2_control_node-5] #18 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7d77c8a29d8f] [ros2_control_node-5] #17 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x58a1df12bd8a, in main [ros2_control_node-5] #16 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x58a1df1303b6, in std::__shared_ptr<controller_manager::ControllerManager, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<controller_manager::ControllerManager>, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&>(std::_Sp_alloc_shared_tag<std::allocator<controller_manager::ControllerManager> >, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) [ros2_control_node-5] #15 Object "/home/y/colcon_ws/build/controller_manager/ros2_control_node", at 0x58a1df12efd5, in void __gnu_cxx::new_allocator<controller_manager::ControllerManager>::construct<controller_manager::ControllerManager, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&>(controller_manager::ControllerManager*, std::shared_ptr<rclcpp::Executor>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) [clone .isra.0] [ros2_control_node-5] #14 Object "/home/y/colcon_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7d77c93a6f30, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) [ros2_control_node-5] #13 Object "/home/y/colcon_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x7d77c93a60ef, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) [ros2_control_node-5] #12 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x7d77c896c602, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) [ros2_control_node-5] #11 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x7d77c8976cde, in hardware_interface::ResourceStorage::load_and_initialize_system(hardware_interface::HardwareInfo const&) [ros2_control_node-5] #10 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x7d77c8976aa4, in auto hardware_interface::ResourceStorage::load_and_initialize_system(hardware_interface::HardwareInfo const&)::{lambda(auto:1&)#1}::operator()<std::vector<hardware_interface::System, std::allocator<hardware_interface::System> > >(std::vector<hardware_interface::System, std::allocator<hardware_interface::System> >&) const [ros2_control_node-5] #9 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x7d77c897c5b8, in void hardware_interface::ResourceStorage::load_hardware<hardware_interface::System, hardware_interface::SystemInterface>(hardware_interface::HardwareInfo const&, pluginlib::ClassLoader<hardware_interface::SystemInterface>&, std::vector<hardware_interface::System, std::allocator<hardware_interface::System> >&) [ros2_control_node-5] #8 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x7d77c89856f8, in pluginlib::ClassLoader<hardware_interface::SystemInterface>::createUnmanagedInstance(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) [ros2_control_node-5] #7 Object "/home/y/colcon_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x7d77c89932b2, in pluginlib::ClassLoader<hardware_interface::SystemInterface>::loadLibraryForClass(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) [ros2_control_node-5] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7d77c8eae4d7, in __cxa_throw [ros2_control_node-5] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7d77c8eae276, in std::terminate() [ros2_control_node-5] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7d77c8eae20b, in [ros2_control_node-5] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7d77c8ea2b9d, in [ros2_control_node-5] #2 Source "./stdlib/abort.c", line 79, in abort [0x7d77c8a287f2] [ros2_control_node-5] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7d77c8a42475] [ros2_control_node-5] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal [ros2_control_node-5] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation [ros2_control_node-5] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7d77c8a969fc] [ros2_control_node-5] Aborted (Signal sent by tkill() 74562 1000) [ERROR] [ros2_control_node-5]: process has died [pid 74562, exit code -6, cmd '/home/y/colcon_ws/install/controller_manager/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_elhbltkf --params-file /home/y/colcon_ws/install/franka_robot_ign_pkg/share/franka_robot_ign_pkg/config/combined_control.yaml']. [spawner-6] [INFO] [1760616823.215299596] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [INFO] [1760616823.248985341] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... [create-2] [INFO] [1760616823.503035157] [ros_gz_sim]: Waiting messages on topic [robot_description]. [create-2] [INFO] [1760616823.514344976] [ros_gz_sim]: Requested creation of entity. [create-2] [INFO] [1760616823.514389954] [ros_gz_sim]: OK creation of entity. [INFO] [create-2]: process has finished cleanly [pid 74555] [ign gazebo-1] libEGL warning: egl: failed to create dri2 screen [ign gazebo-1] libEGL warning: egl: failed to create dri2 screen [ign gazebo-1] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://franka_description/meshes/robot_ee/franka_hand_white/collision/hand.stl] [ign gazebo-1] [Err] [SystemPaths.cc:473] Could not resolve file [model://franka_description/meshes/robot_ee/franka_hand_white/collision/hand.stl] [ign gazebo-1] [Err] [MeshManager.cc:173] Unable to find file[model://franka_description/meshes/robot_ee/franka_hand_white/collision/hand.stl] [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:473] Could not resolve file [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [MeshManager.cc:173] Unable to find file[model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:562] Cannot load null mesh [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:125] Failed to get Ogre item for [model://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae] [ign gazebo-1] [GUI] [Err] [SceneManager.cc:404] Failed to load geometry for visual: fr3_link7_fixed_joint_lump__fr3_hand_visual_visual_1 [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:473] Could not resolve file [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [MeshManager.cc:173] Unable to find file[model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:562] Cannot load null mesh [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:125] Failed to get Ogre item for [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [SceneManager.cc:404] Failed to load geometry for visual: fr3_leftfinger_visual_visual [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:378] Unable to find file with URI [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [SystemPaths.cc:473] Could not resolve file [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [MeshManager.cc:173] Unable to find file[model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [MeshDescriptor.cc:56] Mesh manager can't find mesh named [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:562] Cannot load null mesh [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [Ogre2MeshFactory.cc:125] Failed to get Ogre item for [model://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae] [ign gazebo-1] [GUI] [Err] [SceneManager.cc:404] Failed to load geometry for visual: fr3_rightfinger_visual_visual [spawner-6] [WARN] [1760616833.228535648] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers [spawner-6] [INFO] [1760616833.228836993] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [WARN] [1760616833.262240122] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers [spawner-7] [INFO] [1760616833.262542793] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-6] [WARN] [1760616843.242406080] [spawner_diff_drive_controller]: Could not contact service /controller_manager/list_controllers [spawner-6] [INFO] [1760616843.242765181] [spawner_diff_drive_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-7] [WARN] [1760616843.275612421] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers [spawner-7] [INFO] [1760616843.275930056] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available... 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