gtkglade-WARNING **: could not find signal handler

 在GCC编译命令中加入-export-dynamic,如:

gcc test.c  -o test `pkg-config --libs --cflags gtk+-2.0 ` -export-dynamic

 

wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_11.launch.py [INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-07-31-22-42-04-880679-wjs-desktop-3490 [INFO] [launch]: Default logging verbosity is set to INFO URDF路径: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/urdf/fishbot_base.urdf 配置文件目录: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config [INFO] [sllidar_node-1]: process started with pid [3491] [INFO] [ahrs_driver_node-2]: process started with pid [3493] [INFO] [robot_state_publisher-3]: process started with pid [3495] [INFO] [cartographer_node-4]: process started with pid [3497] [INFO] [cartographer_occupancy_grid_node-5]: process started with pid [3500] [INFO] [test01-6]: process started with pid [3518] [sllidar_node-1] [INFO] [1753972925.292018354] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0 [sllidar_node-1] [INFO] [1753972925.341420338] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571 [sllidar_node-1] [INFO] [1753972925.341625562] [sllidar_node]: Firmware Ver: 1.01 [sllidar_node-1] [INFO] [1753972925.341712796] [sllidar_node]: Hardware Rev: 18 [sllidar_node-1] [INFO] [1753972925.394365205] [sllidar_node]: SLLidar health status : 0 [sllidar_node-1] [INFO] [1753972925.394585558] [sllidar_node]: SLLidar health status : OK. [robot_state_publisher-3] [WARN] [1753972925.439404039] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-3] [INFO] [1753972925.462492726] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1753972925.462650546] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1753972925.462684655] [robot_state_publisher]: got segment laser_link [sllidar_node-1] [INFO] [1753972926.001498187] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz, [cartographer_node-4] [INFO] [1753972926.381159918] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua' for 'test02.lua'. [cartographer_node-4] [INFO] [1753972926.387582813] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972926.387886344] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972926.401111512] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972926.404937484] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972926.406829278] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972926.407115588] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972926.407520389] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-4] [INFO] [1753972926.407731965] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ahrs_driver_node-2] [INFO] [1753972926.413443343] [ahrs_bringup]: Serial Port initialized [ahrs_driver_node-2] [INFO] [1753972926.413877419] [ahrs_bringup]: ahrsBringup::processLoop: start [cartographer_node-4] [INFO] [1753972926.413688027] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-4] [INFO] [1753972926.414655616] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-4] [INFO] [1753972926.539480363] [cartographer logger]: I0731 22:42:06.000000 3497 map_builder_bridge.cpp:136] Added trajectory with ID '0'. [test01-6] [INFO] [1753972927.276279155] [tf_subscriber]: 串口初始化成功: /dev/esp [cartographer_node-4] [INFO] [1753972927.937685537] [cartographer logger]: I0731 22:42:07.000000 3497 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638895697279334551'. [cartographer_node-4] [INFO] [1753972927.938687865] [cartographer logger]: I0731 22:42:07.000000 3497 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing. [cartographer_node-4] [INFO] [1753972928.041921183] [cartographer logger]: I0731 22:42:08.000000 3497 pose_graph_2d.cc:148] Inserted submap (0, 0). [cartographer_node-4] [WARN] [1753972928.155580796] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2204 earlier points. [cartographer_node-4] [WARN] [1753972928.266892465] [cartographer logger]: W0731 22:42:08.000000 3497 sensor_bridge.cpp:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 638895697282633349 is not before current subdivision time 638895697282613324 [cartographer_node-4] [WARN] [1753972928.267554931] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 15 earlier points. [cartographer_node-4] [WARN] [1753972928.411221081] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2181 earlier points. [cartographer_node-4] [WARN] [1753972928.567551008] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 20 earlier points. [cartographer_node-4] [WARN] [1753972928.574751828] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2260 earlier points. [cartographer_node-4] [WARN] [1753972928.772710132] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2491 earlier points. [cartographer_node-4] [WARN] [1753972929.055279642] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 2639 earlier points. [cartographer_node-4] [WARN] [1753972929.308514082] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 915 earlier points. [cartographer_node-4] [WARN] [1753972929.357095244] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 365 earlier points. [cartographer_node-4] [WARN] [1753972929.410270693] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 757 earlier points. [cartographer_node-4] [WARN] [1753972929.468742243] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 532 earlier points. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-3] [INFO] [1753972931.302743250] [rclcpp]: signal_handler(signum=2) [cartographer_node-4] [INFO] [1753972931.303041208] [rclcpp]: signal_handler(signum=2) [cartographer_occupancy_grid_node-5] [INFO] [1753972931.303140164] [rclcpp]: signal_handler(signum=2) [ahrs_driver_node-2] [INFO] [1753972931.306472015] [rclcpp]: signal_handler(signum=2) [test01-6] [INFO] [1753972931.317018916] [tf_subscriber]: 用户中断,退出节点 [test01-6] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 [cartographer_node-4] [INFO] [1753972931.381496061] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:569] Shutdown the subscriber of [scan] [cartographer_node-4] [INFO] [1753972931.398093009] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:569] Shutdown the subscriber of [imu] [cartographer_node-4] [INFO] [1753972931.398192483] [cartographer logger]: I0731 22:42:11.000000 3497 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'... [cartographer_node-4] [WARN] [1753972931.399485994] [cartographer logger]: W0731 22:42:11.000000 3497 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now. [cartographer_node-4] [INFO] [1753972931.399604003] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:551] Trajectory 0 already pending to finish. [cartographer_node-4] [INFO] [1753972931.399660276] [cartographer logger]: I0731 22:42:11.000000 3497 map_builder_bridge.cpp:161] Running final trajectory optimization... [cartographer_node-4] [INFO] [1753972931.399828559] [cartographer logger]: I0731 22:42:11.000000 3553 pose_graph_2d.cc:538] Remaining work items in queue: 0 [cartographer_node-4] [INFO] [1753972931.399970030] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.400510321] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [cartographer_node-4] [WARN] [1753972931.402947335] [cartographer logger]: W0731 22:42:11.000000 3553 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972931.443748639] [cartographer logger]: I0731 22:42:11.000000 3553 pose_graph_2d.cc:538] Remaining work items in queue: 1 [cartographer_node-4] [INFO] [1753972931.444092112] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.446113307] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [cartographer_node-4] [WARN] [1753972931.448578615] [cartographer logger]: W0731 22:42:11.000000 3553 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972931.451659875] [cartographer logger]: I0731 22:42:11.000000 3550 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.451766940] [cartographer logger]: I0731 22:42:11.000000 3550 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [cartographer_node-4] [INFO] [1753972931.562351736] [cartographer logger]: I0731 22:42:11.000000 3552 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.562474041] [cartographer logger]: I0731 22:42:11.000000 3552 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 3495] [INFO] [cartographer_occupancy_grid_node-5]: process has finished cleanly [pid 3500] [sllidar_node-1] [INFO] [1753972931.631353251] [sllidar_node]: Stop motor [INFO] [ahrs_driver_node-2]: process has finished cleanly [pid 3493] [INFO] [cartographer_node-4]: process has finished cleanly [pid 3497] [INFO] [sllidar_node-1]: process has finished cleanly [pid 3491] [INFO] [test01-6]: process has finished cleanly [pid 3518] wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_11.lau?
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08-01
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