ROS2常见问题及解决方案

原创已于 2025-05-23 17:16:50 修改 · 2.4k 阅读

2 ·

CC 4.0 BY-SA版权

文章标签：

#ros2 #问题 #解决

于 2022-05-29 18:16:37 首次发布

本文详细介绍了在ROS开发过程中遇到的三个常见问题的解决方案：CMake错误、节点定义错误和模块未找到错误，并提供了相应的解决方法。通过执行特定的命令，读者可以轻松解决这些问题，从而继续进行ROS项目的开发。

摘要生成于 C知道，由 DeepSeek-R1 满血版支持，前往体验 >

1.CMake Error at CMakeLists.txt:28 (rosidl_generate_interfaces): Unknown CMake command “rosidl_generate_interfaces”.

解决方案：CmakeLists.txt中添加

find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)

2. ndt_mapping_nodes: No definition of [osrf_testing_tools_cpp] for OS [debian]

解决方案：

ubuntu20.04版本运行：

rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y --os=ubuntu:focal

3. ModuleNotFoundError: No module named ‘transforms3d’

解决方案：

 pip3 install transforms3d

4. [cartographer_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame base_link at time 55.566670 according to authority Authority undetectable

解决方案：将launch文件中use_sim_time参数值改成true

def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    cartographer_prefix = get_package_share_directory('cartographer_ros')
    cartographer_config_dir = LaunchConfiguration('cartographer_config_dir', default=os.path.join(
                                                  cartographer_prefix, 'configuration_files'))
    configuration_basename = LaunchConfiguration('configuration_basename',
                                                 default='turtlebot3_lds_2d.lua')
 
    resolution = LaunchConfiguration('resolution', default='0.05')
    publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
 
    return LaunchDescription([
        DeclareLaunchArgument(
            'cartographer_config_dir',
            default_value=cartographer_config_dir,
            description='Full path to config file to load'),
        DeclareLaunchArgument(
            'configuration_basename',
            default_value=configuration_basename,
            description='Name of lua file for cartographer'),
        DeclareLaunchArgument(
            'use_sim_time',
            default_value='true',
            description='Use simulation (Gazebo) clock if true'),
 
        Node(
            package='cartographer_ros',
            executable='cartographer_node',
            # node_name='cartographer_node',
            output='screen',
            parameters=[{'use_sim_time': use_sim_time}],
            arguments=['-configuration_directory', cartographer_config_dir,
                       '-configuration_basename', configuration_basename]),
 
        DeclareLaunchArgument(
            'resolution',
            default_value=resolution,
            description='Resolution of a grid cell in the published occupancy grid'),
 
        DeclareLaunchArgument(
            'publish_period_sec',
            default_value=publish_period_sec,
            description='OccupancyGrid publishing period'),
 
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/occupancy_grid.launch.py']),
            launch_arguments={'use_sim_time': use_sim_time, 'resolution': resolution,
                              'publish_period_sec': publish_period_sec}.items(),
        ),
 
        Node(
            package='rviz2',
            executable='rviz2',
            # node_name='rviz2',
            parameters=[{'use_sim_time': use_sim_time}],
            output='screen'),
    ])