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编译时遇到问题 #3

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1716775457damn opened this issue Jun 24, 2024 · 30 comments
Open

编译时遇到问题 #3

1716775457damn opened this issue Jun 24, 2024 · 30 comments

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@1716775457damn
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twx@wp:~/ros2_ws/src/wpr_simulation2/scripts$ cd ~/ros2_ws
colcon build --symlink-install
Starting >>> wpr_simulation2
--- stderr: wpr_simulation2
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/twx/ros2_ws/src/wpr_simulation2/src/objects_publisher.cpp:1:
/home/twx/ros2_ws/src/wpr_simulation2/src/objects_publisher.cpp: In member function ‘void ObjectsPublisher::pointcloudCallback(sensor_msgs::msg::PointCloud2_<std::allocator >::SharedPtr)’:
/home/twx/ros2_ws/src/wpr_simulation2/src/objects_publisher.cpp:154:37: warning: format ‘%d’ expects argument of type ‘int’, but argument 5 has type ‘std::vectorpcl::PointIndices::size_type’ {aka ‘long unsigned int’} [-Wformat=]
154 | RCLCPP_INFO(this->get_logger(), "Number of clusters: %d", cluster_indices.size());
| ^~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~
| |
| std::vectorpcl::PointIndices::size_type {aka long unsigned int}
/home/twx/ros2_ws/src/wpr_simulation2/src/objects_publisher.cpp:154:59: note: format string is defined here
154 | RCLCPP_INFO(this->get_logger(), "Number of clusters: %d", cluster_indices.size());
| ~^
| |
| int
| %ld

Finished <<< wpr_simulation2 [28.5s]

Summary: 1 package finished [28.7s]
1 package had stderr output: wpr_simulation2
@wariot221zjsru
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我遇到的问题：
Starting >>> wpr_simulation2
[Processing: wpr_simulation2]
[Processing: wpr_simulation2]
[Processing: wpr_simulation2]
[Processing: wpr_simulation2]
[Processing: wpr_simulation2]
--- stderr: wpr_simulation2
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/ubuntu22/ros2_ws/src/wpr_simulation2/src/objects_publisher.cpp:1:
/home/ubuntu22/ros2_ws/src/wpr_simulation2/src/objects_publisher.cpp: In member function ‘void ObjectsPublisher::pointcloudCallback(sensor_msgs::msg::PointCloud2_<std::allocator >::SharedPtr)’:
/home/ubuntu22/ros2_ws/src/wpr_simulation2/src/objects_publisher.cpp:154:37: warning: format ‘%d’ expects argument of type ‘int’, but argument 5 has type ‘std::vectorpcl::PointIndices::size_type’ {aka ‘long unsigned int’} [-Wformat=]
154 | RCLCPP_INFO(this->get_logger(), "Number of clusters: %d", cluster_indices.size());
| ^~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~
| |
| std::vectorpcl::PointIndices::size_type {aka long unsigned int}
/home/ubuntu22/ros2_ws/src/wpr_simulation2/src/objects_publisher.cpp:154:59: note: format string is defined here
154 | RCLCPP_INFO(this->get_logger(), "Number of clusters: %d", cluster_indices.size());
| ~^
| |
| int
| %ld

Finished <<< wpr_simulation2 [2min 57s]

Summary: 1 package finished [2min 58s]
1 package had stderr output: wpr_simulation2

@wariot221zjsru
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我以前是好的。现在重装了一遍还不行。什么原因？

@wariot221zjsru
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问题是以前我这样运行错过一次但是后来又自动好了。结果现在又不行了

@wariot221zjsru
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ubuntu22@ubuntu22-virtual-machine:/ros2_ws$ source install/setup.bash
ubuntu22@ubuntu22-virtual-machine:/ros2_ws$ ros2 launch wpr_simulation2 wpb_simple.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu22/.ros/log/2024-07-25-10-52-08-090488-ubuntu22-virtual-machine-22127
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [22128]
[INFO] [gzclient-2]: process started with pid [22130]
[INFO] [robot_state_publisher-3]: process started with pid [22132]
[INFO] [spawn_entity.py-4]: process started with pid [22134]
[INFO] [spawn_entity.py-5]: process started with pid [22136]
[robot_state_publisher-3] [INFO] [1721875930.122471643] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1721875930.122613049] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1721875930.122624235] [robot_state_publisher]: got segment base_top_link
[robot_state_publisher-3] [INFO] [1721875930.122629087] [robot_state_publisher]: got segment body_back_link
[robot_state_publisher-3] [INFO] [1721875930.122634032] [robot_state_publisher]: got segment body_link
[robot_state_publisher-3] [INFO] [1721875930.122638631] [robot_state_publisher]: got segment front_link
[robot_state_publisher-3] [INFO] [1721875930.122642852] [robot_state_publisher]: got segment head_link
[robot_state_publisher-3] [INFO] [1721875930.122647181] [robot_state_publisher]: got segment kinect2_camera_frame
[robot_state_publisher-3] [INFO] [1721875930.122652009] [robot_state_publisher]: got segment kinect2_dock
[robot_state_publisher-3] [INFO] [1721875930.122656457] [robot_state_publisher]: got segment kinect2_front_frame
[robot_state_publisher-3] [INFO] [1721875930.122660801] [robot_state_publisher]: got segment kinect2_head_frame
[robot_state_publisher-3] [INFO] [1721875930.122665172] [robot_state_publisher]: got segment kinect2_ir_optical_frame
[robot_state_publisher-3] [INFO] [1721875930.122669880] [robot_state_publisher]: got segment kinect2_rgb_optical_frame
[robot_state_publisher-3] [INFO] [1721875930.122674171] [robot_state_publisher]: got segment laser_link
[spawn_entity.py-4] [INFO] [1721875930.834143967] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1721875930.835427329] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-4] warnings.warn(
[spawn_entity.py-4] [INFO] [1721875930.840447623] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1721875930.855071817] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1721875930.856203875] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-5] [INFO] [1721875930.945818426] [spawn_entity]: Spawn Entity started
[spawn_entity.py-5] [INFO] [1721875930.946128626] [spawn_entity]: Loading entity XML from file /home/ubuntu22/ros2_ws/install/wpr_simulation2/share/wpr_simulation2/models/bookshelft.model
[spawn_entity.py-5] [INFO] [1721875930.946699684] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-5] [INFO] [1721875930.947214396] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1721875931.368059972] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1721875931.421155793] [spawn_entity]: Spawn status: Entity pushed to spawn queue, but spawn service timed outwaiting for entity to appear in simulation under the name [wpb_home]
[spawn_entity.py-4] [ERROR] [1721875931.421553568] [spawn_entity]: Spawn service failed. Exiting.
[spawn_entity.py-5] [INFO] [1721875931.453991740] [spawn_entity]: Calling service /spawn_entity
[gzserver-1] [INFO] [1721875931.520241774] [wpb_imu]: <initial_orientation_as_reference> is unset, using default value of false to comply with REP 145 (world as orientation reference)
[gzserver-1] gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = gazebo::rendering::Scene; typename boost::detail::sp_member_access::type = gazebo::rendering::Scene*]: Assertion `px != 0' failed.
[ERROR] [spawn_entity.py-4]: process has died [pid 22134, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic robot_description -entity wpb_home -x 0.0 -y 0.0 -Y 0.0 --ros-args'].
[ERROR] [gzserver-1]: process has died [pid 22128, exit code -6, cmd 'gzserver /home/ubuntu22/ros2_ws/install/wpr_simulation2/share/wpr_simulation2/worlds/wpb_simple.world -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[ERROR] [gzclient-2]: process has died [pid 22130, exit code 255, cmd 'gzclient'].

我有时候能编译，但是出现了这种情况，怎么办？

@wariot221zjsru
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ubuntu22@ubuntu22-virtual-machine:/ros2_ws$ source install/setup.bash ubuntu22@ubuntu22-virtual-machine:/ros2_ws$ ros2 launch wpr_simulation2 wpb_simple.launch.py [INFO] [launch]: All log files can be found below /home/ubuntu22/.ros/log/2024-07-25-10-52-08-090488-ubuntu22-virtual-machine-22127 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [gzserver-1]: process started with pid [22128] [INFO] [gzclient-2]: process started with pid [22130] [INFO] [robot_state_publisher-3]: process started with pid [22132] [INFO] [spawn_entity.py-4]: process started with pid [22134] [INFO] [spawn_entity.py-5]: process started with pid [22136] [robot_state_publisher-3] [INFO] [1721875930.122471643] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-3] [INFO] [1721875930.122613049] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1721875930.122624235] [robot_state_publisher]: got segment base_top_link [robot_state_publisher-3] [INFO] [1721875930.122629087] [robot_state_publisher]: got segment body_back_link [robot_state_publisher-3] [INFO] [1721875930.122634032] [robot_state_publisher]: got segment body_link [robot_state_publisher-3] [INFO] [1721875930.122638631] [robot_state_publisher]: got segment front_link [robot_state_publisher-3] [INFO] [1721875930.122642852] [robot_state_publisher]: got segment head_link [robot_state_publisher-3] [INFO] [1721875930.122647181] [robot_state_publisher]: got segment kinect2_camera_frame [robot_state_publisher-3] [INFO] [1721875930.122652009] [robot_state_publisher]: got segment kinect2_dock [robot_state_publisher-3] [INFO] [1721875930.122656457] [robot_state_publisher]: got segment kinect2_front_frame [robot_state_publisher-3] [INFO] [1721875930.122660801] [robot_state_publisher]: got segment kinect2_head_frame [robot_state_publisher-3] [INFO] [1721875930.122665172] [robot_state_publisher]: got segment kinect2_ir_optical_frame [robot_state_publisher-3] [INFO] [1721875930.122669880] [robot_state_publisher]: got segment kinect2_rgb_optical_frame [robot_state_publisher-3] [INFO] [1721875930.122674171] [robot_state_publisher]: got segment laser_link [spawn_entity.py-4] [INFO] [1721875930.834143967] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1721875930.835427329] [spawn_entity]: Loading entity published on topic robot_description [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-4] warnings.warn( [spawn_entity.py-4] [INFO] [1721875930.840447623] [spawn_entity]: Waiting for entity xml on robot_description [spawn_entity.py-4] [INFO] [1721875930.855071817] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1721875930.856203875] [spawn_entity]: Waiting for service /spawn_entity [spawn_entity.py-5] [INFO] [1721875930.945818426] [spawn_entity]: Spawn Entity started [spawn_entity.py-5] [INFO] [1721875930.946128626] [spawn_entity]: Loading entity XML from file /home/ubuntu22/ros2_ws/install/wpr_simulation2/share/wpr_simulation2/models/bookshelft.model [spawn_entity.py-5] [INFO] [1721875930.946699684] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-5] [INFO] [1721875930.947214396] [spawn_entity]: Waiting for service /spawn_entity [spawn_entity.py-4] [INFO] [1721875931.368059972] [spawn_entity]: Calling service /spawn_entity [spawn_entity.py-4] [INFO] [1721875931.421155793] [spawn_entity]: Spawn status: Entity pushed to spawn queue, but spawn service timed outwaiting for entity to appear in simulation under the name [wpb_home] [spawn_entity.py-4] [ERROR] [1721875931.421553568] [spawn_entity]: Spawn service failed. Exiting. [spawn_entity.py-5] [INFO] [1721875931.453991740] [spawn_entity]: Calling service /spawn_entity [gzserver-1] [INFO] [1721875931.520241774] [wpb_imu]: <initial_orientation_as_reference> is unset, using default value of false to comply with REP 145 (world as orientation reference) [gzserver-1] gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = gazebo::rendering::Scene; typename boost::detail::sp_member_access::type = gazebo::rendering::Scene*]: Assertion `px != 0' failed. [ERROR] [spawn_entity.py-4]: process has died [pid 22134, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic robot_description -entity wpb_home -x 0.0 -y 0.0 -Y 0.0 --ros-args']. [ERROR] [gzserver-1]: process has died [pid 22128, exit code -6, cmd 'gzserver /home/ubuntu22/ros2_ws/install/wpr_simulation2/share/wpr_simulation2/worlds/wpb_simple.world -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so']. [ERROR] [gzclient-2]: process has died [pid 22130, exit code 255, cmd 'gzclient'].

我有时候能编译，但是出现了这种情况，怎么办？

出现这种情况而且gazebo一直出不来怎么办？

@wariot221zjsru
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@zhangwanjie

@zhangwanjie
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zhangwanjie commented Jul 25, 2024 via email

@wariot221zjsru
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试试关闭虚拟机的3d加速功能？
…
在 2024年7月25日，12:02，wariot221zjsru @.***> 写道：  @zhangwanjie — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.

新建 BMP 图像 (7)

@wariot221zjsru
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却为何3D加速选项根本取消不掉？

@zhangwanjie
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zhangwanjie commented Jul 25, 2024 via email

@wariot221zjsru
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ROS1的课程，很多虚拟机的同学都要关闭3D加速才能显示模型。建议装双系统。
…
在 2024年7月25日，20:56，wariot221zjsru @.***> 写道：  却为何3D加速选项根本取消不掉？ — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.

这个是ros2的包啊。而且我以前一直都是好的。可能是因为我根据别的教程可能更新了gazebo系统。这个和ros1有什么关系？我在b站发过，我以前是好的

@zhangwanjie
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zhangwanjie commented Jul 25, 2024 via email

@wariot221zjsru
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wariot221zjsru commented Jul 25, 2024 via email

@wariot221zjsru
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github容易不稳定，以后都用邮件回吧

@wariot221zjsru
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我们这里这几天极为不稳定

@wariot221zjsru
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wariot221zjsru commented Jul 25, 2024 via email

@wariot221zjsru
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wariot221zjsru commented Jul 25, 2024 via email

@wariot221zjsru
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wariot221zjsru commented Jul 25, 2024 via email

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wariot221zjsru commented Jul 25, 2024 via email

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wariot221zjsru commented Jul 25, 2024 via email

@wariot221zjsru
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然后就动不了了 在 2024-07-25 21:22:48，"Jay Zhang" @.> 写道： 这个跟ROS1还是ROS2没关系，和Gazebo的3D引擎和虚拟机的兼容性有关系 发自我的iPhone
在 2024年7月25日，21:20，wariot221zjsru @.> 写道：  ROS1的课程，很多虚拟机的同学都要关闭3D加速才能显示模型。建议装双系统。 … 在 2024年7月25日，20:56，wariot221zjsru @.> 写道：  却为何3D加速选项根本取消不掉？ — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned. 这个是ros2的包啊。而且我以前一直都是好的。可能是因为我根据别的教程可能更新了gazebo系统。这个和ros1有什么关系？我在b站发过，我以前是好的 — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.
— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: @.>

是什么原因

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zhangwanjie commented Jul 25, 2024 via email

@wariot221zjsru
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wariot221zjsru commented Jul 25, 2024 via email

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wariot221zjsru commented Jul 25, 2024 via email

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这个和bash有关系吗

@wariot221zjsru
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我的gazebo版本是v11.10.2

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wariot221zjsru commented Jul 26, 2024 via email

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wariot221zjsru commented Jul 26, 2024 via email

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wariot221zjsru commented Jul 26, 2024 via email

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wariot221zjsru commented Jul 26, 2024 via email

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