关于java was start but returned exit code=13错误

本文详细介绍了在使用Eclipse时遇到的启动失败问题,原因在于32位JDK与64位Eclipse版本不匹配。通过检查JDK版本并运行特定代码来确认问题,最终成功下载并安装了64位JDK来解决问题。

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起因

下载了JDK1.8,之后发现ECLPSE启动不起来了,报错

java was start but returned exit code=13

经查证,可能是因为64位和32位不匹配的问题

查看JDK版本

用java -version,未发现版本信息

java version "1.8.0_25"
Java(TM) SE Runtime Environment (build 1.8.0_25-b18)
Java HotSpot(TM) Client VM (build 25.25-b02, mixed mode, sharing)
只好打开记事本,写了段代码

public class A{
	public static void main(String[] args){
		
		String arch = System.getProperty("sun.arch.data.model");
		System.out.println(arch);
	}
}

运行

E:\>javac A.java
E:\>java A
错误: 找不到或无法加载主类 A

E:\>java -cp . A
32
可见JDK是32位的,而我的ECLIPSE是64的,所以不匹配,去下载最新的64位JDK

下载地址

eclipse :
http://www.eclipse.org/downloads/packages/release/Luna/R
jdk:
http://www.oracle.com/technetwork/java/javase/downloads/jdk8-downloads-2133151.html

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
最新发布
07-17
<think>我们面对的问题是在执行`roslaunch eprobot_start one_car_start.launch`时出现的两个主要错误: 1. `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)` 2. 多个警告,如`Timed out waiting for transform from base_footprint to map`和`No laser scan received` 我们将逐步解决这些问题。 ### 步骤1: 解决节点启动错误(one_car_start.py未找到) 这个错误表明ROS无法找到`eprobot_start`包中的`one_car_start.py`节点。可能的原因和解决方案如下: #### 原因1: 文件不存在或路径错误 确保`one_car_start.py`文件存在于`eprobot_start`包的`script`目录(或类似目录)中。通常,ROS节点脚本放在包的`scripts`目录下。 #### 解决步骤: 1. **定位文件**: ```bash roscd eprobot_start ls scripts/ # 检查one_car_start.py是否存在 ``` 如果文件在别的目录(例如`src`),请调整路径。 2. **设置执行权限**: 如果文件存在但没有执行权限,ROS无法运行它。执行: ```bash chmod +x scripts/one_car_start.py ``` 3. **检查`package.xml`**: 确保`package.xml`中声明了该脚本作为节点: ```xml <exec_depend>rospy</exec_depend> ``` 4. **检查`CMakeLists.txt`(可选)**: 对于Python节点,通常不需要在`CMakeLists.txt`中声明,但如果使用`catkin_install_python`,请确保包含: ```cmake catkin_install_python(PROGRAMS scripts/one_car_start.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) ``` #### 原因2: 环境变量未更新 如果文件存在且权限正确,可能是环境变量未更新,导致ROS找不到该包。 #### 解决步骤: 1. **重新构建工作空间**: ```bash cd ~/robot_ws catkin_make source devel/setup.bash ``` 2. **检查环境变量**: ```bash echo $ROS_PACKAGE_PATH | grep eprobot_start ``` 确保输出中包含`eprobot_start`包的路径。 ### 步骤2: 处理TF变换超时警告 警告信息: ``` [ WARN] [1752663879.396290450]: Timed out waiting for transform from base_footprint to map to become available [ WARN] [1752663886.469901598]: No laser scan received (and thus no pose updates have been published) for 1752663886.469788 seconds. Verify that data is being published on the /scan_filtered topic. ``` #### 原因1: 传感器节点启动延迟 激光雷达(`lslidar_driver_node`)或IMU节点可能启动较慢,导致`amcl`或`ekf_se`节点在启动时无法立即获取数据。 #### 解决步骤: 1. **调整启动顺序**: 在launch文件中使用`<node>`标签的`respawn`和`respawn_delay`属性,确保关键节点重启直到依赖就绪[^2]。 例如,为激光雷达节点添加: ```xml <node name="lslidar_driver_node" pkg="lslidar_driver" type="lslidar_driver_node" respawn="true" respawn_delay="5" /> ``` 2. **使用`<node>`的`required`属性**: 将`amcl`节点设置为`required="true"`,这样如果它因依赖未就绪而失败,整个launch会停止,避免后续错误。 3. **添加延迟启动**: 使用`<arg>`和`<node>`的`launch-prefix`属性延迟节点启动: ```xml <node name="amcl" pkg="amcl" type="amcl" launch-prefix="bash -c 'sleep 5; $0 $@'"> ``` #### 原因2: 传感器话题名称不匹配 `amcl`或`ekf_se`节点订阅的话题(如`/scan_filtered`)与激光雷达发布的话题不一致。 #### 解决步骤: 1. **检查话题列表**: ```bash rostopic list ``` 确认激光雷达发布的话题是否为`/scan`,而`laser_filter`节点是否将其转换为`/scan_filtered`。 2. **修正话题名称**: 在launch文件中,确保`amcl`节点订阅正确的话题: ```xml <param name="amcl/scan_topic" value="/scan_filtered" /> ``` ### 步骤3: 解决`image_view`节点崩溃问题 日志显示: ``` [image_view-3] process has died [pid 2519, exit code 1, cmd ...] ``` #### 原因: 无法打开显示(无图形界面) 在无图形界面的环境中(如通过SSH连接),`image_view`节点需要设置`DISPLAY`环境变量。 #### 解决步骤: 1. **禁用图像显示**: 如果不需显示图像,从launch文件中移除`image_view`节点。 2. **设置虚拟显示**(仅用于测试): 使用`xvfb`创建虚拟显示: ```bash sudo apt-get install xvfb Xvfb :1 -screen 0 1024x768x24 & export DISPLAY=:1 ``` 3. **重定向图像话题**: 使用`rqt_image_view`替代,它更灵活: ```bash rosrun rqt_image_view rqt_image_view ``` ### 完整修复方案示例 修改`one_car_start.launch`文件,包含以下调整: 1. **确保`one_car_start.py`正确启动**: ```xml <node name="one_car_start" pkg="eprobot_start" type="one_car_start.py" output="screen"> <!-- 参数设置 --> </node> ``` 2. **调整节点启动顺序和依赖**: ```xml <!-- 先启动传感器节点 --> <node name="lslidar_driver_node" pkg="lslidar_driver" type="lslidar_driver_node" respawn="true" respawn_delay="5" /> <node name="laser_filter" pkg="laser_filters" type="scan_to_scan_filter_chain" output="screen"> <rosparam command="load" file="$(find eprobot_start)/config/laser_filter.yaml" /> </node> <!-- 延迟启动amcl --> <node name="amcl" pkg="amcl" type="amcl" launch-prefix="bash -c 'sleep 8; $0 $@'" output="screen"> <remap from="scan" to="/scan_filtered" /> </node> ``` 3. **修复TF变换问题**: 检查所有静态变换发布器(如`base_to_laser`)是否正确设置,确保坐标系连接。 ### 验证修复 1. 重新启动launch文件: ```bash roslaunch eprobot_start one_car_start.launch ``` 2. 检查节点是否运行: ```bash rosnode list ``` 3. 检查话题数据: ```bash rostopic echo /scan_filtered ``` ### 相关问题 1. ROS中如何设置节点的启动顺序和依赖关系?[^2] 2. 如何解决ROS中的TF坐标变换超时问题? 3. ROS环境下如何调试Python节点启动失败?</think>### 解决ROS节点启动失败问题:one_car_start.py节点无法定位 #### 1. **节点文件权限问题(核心错误)** ```bash 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 ``` **解决步骤:** ```bash # 进入包目录检查文件存在性 roscd eprobot_start/scripts ls -l one_car_start.py # 确认文件存在 # 添加可执行权限(关键步骤) chmod +x one_car_start.py # 验证文件权限 ls -l | grep one_car_start.py # 正确输出应包含:-rwxr-xr-x ``` #### 2. **环境变量未更新问题** ```bash # 重新加载工作空间环境 cd ~/robot_ws source devel/setup.bash # 验证ROS包路径 echo $ROS_PACKAGE_PATH | grep eprobot_start ``` #### 3. **TF变换超时问题** ```bash [ WARN] Timed out waiting for transform from base_footprint to map ``` **解决方案:** 1. **调整启动顺序**: ```xml <!-- 在launch文件中确保map_server先启动 --> <node name="map_server" pkg="map_server" type="map_server" args="$(find your_pkg)/map.yaml"/> <node name="amcl" pkg="amcl" type="amcl" output="screen"/> ``` 2. **增加TF缓存时间**: ```xml <param name="/amcl/transform_tolerance" value="1.0"/> ``` #### 4. **激光雷达数据未接收问题** ```bash [ WARN] No laser scan received... Verify data on /scan_filtered topic ``` **诊断步骤:** ```bash # 检查激光雷达话题 rostopic list | grep scan rostopic echo /scan_filtered # 确认数据流 # 检查激光过滤器配置 rosparam get /laser_filter/scan_filter_chain ``` #### 5. **image_view显示问题** ```bash (image_raw:2519): Gtk-WARNING **: cannot open display ``` **解决方案:** ```bash # 方法1:设置虚拟显示(无显示器时) export DISPLAY=:0 Xvfb :0 -screen 0 1024x768x24 & # 方法2:使用rqt替代 rosrun rqt_image_view rqt_image_view ``` ### 完整修复流程 1. **修复节点权限**: ```bash roscd eprobot_start/scripts sudo chmod +x one_car_start.py ``` 2. **更新launch文件**: ```xml <launch> <!-- 确保静态变换先启动 --> <node pkg="tf" type="static_transform_publisher" ... /> <!-- 增加传感器启动延迟 --> <node name="lslidar_driver_node" pkg="lslidar_driver" launch-prefix="bash -c 'sleep 3; $0 $@'" /> <!-- 设置TF超时参数 --> <param name="/amcl/transform_tolerance" value="1.0"/> </launch> ``` 3. **验证修复**: ```bash roslaunch eprobot_start one_car_start.launch rosnode list # 确认所有节点运行 rqt_graph # 检查节点连接 ``` ### 关键原理说明 1. **节点可执行权限**:ROS要求Python节点必须有`+x`权限才能识别为可执行程序[^2] 2. **TF树构建顺序**:必须确保`map→odom→base_link`坐标系的静态变换在AMCL之前发布 3. **传感器初始化时间**:激光雷达需3-5秒初始化,通过`launch-prefix`添加延迟 4. **显示重定向**:无物理显示器时需配置虚拟显示缓冲
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