Webots2021b和ROS2调试笔记21-07-29

Posted 2021-08-29 zhangrelay

所有在21-07-27中的问题，全部都得到解决了，结果如下：

C:\\ros_ws\\webots_ros2>colcon build
[1.903s] root DEBUG Using proactor: IocpProactor
Starting >>> control_msgs
Starting >>> controller_manager_msgs
Starting >>> vision_msgs
Starting >>> realtime_tools
Starting >>> ros2_control_test_assets
Starting >>> webots_ros2_ur_e_description
Starting >>> ackermann_msgs
Starting >>> angles
Finished <<< webots_ros2_ur_e_description [4.97s]
Starting >>> webots_ros2_importer
Finished <<< ros2_control_test_assets [8.02s]
Finished <<< angles [9.38s]
Finished <<< webots_ros2_importer [4.88s]
Finished <<< realtime_tools [15.2s]
Finished <<< controller_manager_msgs [21.5s]
Finished <<< ackermann_msgs [21.2s]
Finished <<< vision_msgs [23.8s]
Starting >>> webots_ros2_msgs
Finished <<< control_msgs [25.1s]
Starting >>> hardware_interface
Finished <<< hardware_interface [10.6s]
Starting >>> controller_interface
Starting >>> transmission_interface
Finished <<< webots_ros2_msgs [17.3s]
Starting >>> webots_ros2_core
Starting >>> webots_ros2_driver
Finished <<< webots_ros2_core [4.08s]
Starting >>> webots_ros2_abb
Starting >>> webots_ros2_universal_robot
Starting >>> webots_ros2_epuck
Starting >>> webots_ros2_examples
Starting >>> webots_ros2_mavic
Finished <<< transmission_interface [11.1s]
Starting >>> webots_ros2_tesla
Finished <<< controller_interface [17.8s]
Starting >>> controller_manager
Finished <<< webots_ros2_examples [10.1s]
Starting >>> webots_ros2_tiago
Finished <<< webots_ros2_epuck [10.6s]
Starting >>> webots_ros2_tutorials
Finished <<< webots_ros2_abb [11.2s]
Finished <<< webots_ros2_mavic [10.6s]
Finished <<< webots_ros2_tesla [9.81s]
Finished <<< webots_ros2_universal_robot [11.5s]
Starting >>> webots_ros2_demos
Finished <<< webots_ros2_driver [20.5s]
Finished <<< webots_ros2_tiago [6.83s]
Finished <<< webots_ros2_tutorials [6.64s]
Finished <<< webots_ros2_demos [6.88s]
Finished <<< controller_manager [16.8s]
Starting >>> forward_command_controller
Starting >>> joint_state_broadcaster
Starting >>> diff_drive_controller
Starting >>> webots_ros2_control
Starting >>> force_torque_sensor_broadcaster
Starting >>> imu_sensor_broadcaster
Starting >>> joint_trajectory_controller
Starting >>> ros2controlcli
Finished <<< ros2controlcli [9.41s]
Starting >>> gripper_controllers
[88.238s] colcon.colcon_cmake.task.cmake.build WARNING Could not run installation step for package 'gripper_controllers' because it has no 'install' target
--- stderr: gripper_controllers
CMake Warning at CMakeLists.txt:5 (message):
  gripper controllers are not available on OSX or Windows


---
Finished <<< gripper_controllers [5.47s]
Starting >>> ros2_control
Finished <<< joint_state_broadcaster [22.4s]
Starting >>> joint_state_controller
Finished <<< forward_command_controller [23.4s]
Starting >>> effort_controllers
Finished <<< force_torque_sensor_broadcaster [23.4s]
Starting >>> position_controllers
Finished <<< imu_sensor_broadcaster [24.0s]
Starting >>> velocity_controllers
Finished <<< ros2_control [9.31s]
Finished <<< diff_drive_controller [25.5s]
Finished <<< joint_trajectory_controller [27.3s]
Finished <<< webots_ros2_control [28.5s]
Starting >>> webots_ros2_turtlebot
Finished <<< joint_state_controller [16.0s]
Finished <<< webots_ros2_turtlebot [10.3s]
Starting >>> webots_ros2
Finished <<< effort_controllers [17.2s]
Finished <<< position_controllers [17.0s]
Finished <<< velocity_controllers [16.7s]
Starting >>> ros2_controllers
Finished <<< ros2_controllers [5.81s]
Finished <<< webots_ros2 [10.2s]

Summary: 42 packages finished [2min 1s]
  1 package had stderr output: gripper_controllers

C:\\ros_ws\\webots_ros2>colcon build --packages-up-to turtlebot3_navigation2
[1.484s] root DEBUG Using proactor: IocpProactor
Starting >>> turtlebot3_navigation2
Finished <<< turtlebot3_navigation2 [8.34s]

Summary: 1 package finished [8.83s]

C:\\ros_ws\\webots_ros2>

为何？如何快速解决问题呢？在博客下留言并不合适，去官方提问才是正解，后续详解。

 

C:\\ros_ws\\webots_ros2>ros2 launch webots_ros2_turtlebot robot_launch.py
[INFO] [launch]: All log files can be found below C:\\Users\\zhangrelay\\.ros/log\\2021-07-29-23-53-27-801054-LAPTOP-5REQ7K1L-5928
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [spawner.py-1]: process started with pid [11140]
[INFO] [spawner.py-2]: process started with pid [15120]
[INFO] [turtlebot3_burger_example.wbt" --batch --mode=realtime-3]: process started with pid [8760]
[INFO] [robot_state_publisher.EXE-4]: process started with pid [13360]
[INFO] [driver.EXE-5]: process started with pid [13228]
[INFO] [static_transform_publisher.EXE-6]: process started with pid [14472]
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-5280/WEBOTS_SERVER (retry count 1)
[robot_state_publisher.EXE-4] Parsing robot urdf xml string.
[robot_state_publisher.EXE-4] [INFO] [1627574008.539763700] [robot_state_publisher]: got segment
[static_transform_publisher.EXE-6] [INFO] [1627574008.555998000] [static_transform_publisher_E3mJBCvy0yxifhNo]: Spinning until killed publishing transform from 'base_link' to 'base_footprint'
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 2)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 3)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 4)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 5)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 6)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 7)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 8)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 9)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 10)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 11)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 12)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 13)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 14)
[driver.EXE-5] Cannot open file: C:\\Users\\zhangrelay\\AppData\\Local\\Temp/webots-8220/WEBOTS_SERVER (retry count 15)
[driver.EXE-5] Error: 找不到指定的模块。
[driver.EXE-5]  (dynamic library)
[driver.EXE-5] Error: failed to load D:/Softs/Webots/resources/projects/plugins/robot_windows/generic/generic.dll library
[robot_state_publisher.EXE-4] Parsing robot urdf xml string.
[robot_state_publisher.EXE-4] Link LDS-01 had 6 children
[robot_state_publisher.EXE-4] Link solid(1) had 0 children
[robot_state_publisher.EXE-4] Link screw0 had 0 children
[robot_state_publisher.EXE-4] Link screw1 had 0 children
[robot_state_publisher.EXE-4] Link screw2 had 0 children
[robot_state_publisher.EXE-4] Link screw3 had 0 children
[robot_state_publisher.EXE-4] Link solid_0 had 0 children
[robot_state_publisher.EXE-4] Link accelerometer had 0 children
[robot_state_publisher.EXE-4] Link compass had 0 children
[robot_state_publisher.EXE-4] Link gyro had 0 children
[robot_state_publisher.EXE-4] Link imu_link had 1 children
[robot_state_publisher.EXE-4] Link solid had 0 children
[robot_state_publisher.EXE-4] Link inertial_unit had 0 children
[robot_state_publisher.EXE-4] Link left wheel had 0 children
[robot_state_publisher.EXE-4] Link right wheel had 0 children
[robot_state_publisher.EXE-4] [INFO] [1627574025.119124700] [robot_state_publisher]: got segment LDS-01
[robot_state_publisher.EXE-4] [INFO] [1627574025.119189600] [robot_state_publisher]: got segment accelerometer
[robot_state_publisher.EXE-4] [INFO] [1627574025.119218400] [robot_state_publisher]: got segment base_link
[robot_state_publisher.EXE-4] [INFO] [1627574025.119243500] [robot_state_publisher]: got segment compass
[robot_state_publisher.EXE-4] [INFO] [1627574025.119268000] [robot_state_publisher]: got segment gyro
[robot_state_publisher.EXE-4] [INFO] [1627574025.119291500] [robot_state_publisher]: got segment imu_link
[robot_state_publisher.EXE-4] [INFO] [1627574025.119314200] [robot_state_publisher]: got segment inertial_unit
[robot_state_publisher.EXE-4] [INFO] [1627574025.119336900] [robot_state_publisher]: got segment left wheel
[robot_state_publisher.EXE-4] [INFO] [1627574025.119358900] [robot_state_publisher]: got segment right wheel
[robot_state_publisher.EXE-4] [INFO] [1627574025.119380700] [robot_state_publisher]: got segment screw0
[robot_state_publisher.EXE-4] [INFO] [1627574025.119402600] [robot_state_publisher]: got segment screw1
[robot_state_publisher.EXE-4] [INFO] [1627574025.119424500] [robot_state_publisher]: got segment screw2
[robot_state_publisher.EXE-4] [INFO] [1627574025.119446000] [robot_state_publisher]: got segment screw3
[robot_state_publisher.EXE-4] [INFO] [1627574025.119469500] [robot_state_publisher]: got segment solid
[robot_state_publisher.EXE-4] [INFO] [1627574025.119493200] [robot_state_publisher]: got segment solid(1)
[robot_state_publisher.EXE-4] [INFO] [1627574025.119514200] [robot_state_publisher]: got segment solid_0
[driver.EXE-5] [INFO] [1627574025.677657200] [controller_manager]: Loading controller 'diffdrive_controller'
[driver.EXE-5] [INFO] [1627574025.739772400] [controller_manager]: Loading controller 'joint_state_broadcaster'
[driver.EXE-5] [INFO] [1627574025.913001300] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[driver.EXE-5] [INFO] [1627574025.989764300] [controller_manager]: Configuring controller 'diffdrive_controller'
[INFO] [spawner.py-1]: process has finished cleanly [pid 11140]
[spawner.py-1] [INFO] [1627574009.619921300] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services

[INFO] [spawner.py-2]: process has finished cleanly [pid 15120]
[spawner.py-2] [INFO] [1627574009.620284500] [spawner_diffdrive_controller]: Waiting for /controller_manager services

[driver.EXE-5] [foonathan::memory] Allocator foonathan::memory::new_allocator (at 0000000000000000) leaked 9984 bytes.
[driver.EXE-5] [foonathan::memory] Allocator foonathan::memory::heap_allocator (at 0000000000000000) leaked 226864 bytes.
[ERROR] [driver.EXE-5]: process has died [pid 13228, exit code 1, cmd 'C:\\ros_ws\\webots_ros2\\install\\webots_ros2_driver\\lib\\webots_ros2_driver\\driver.EXE --ros-args --params-file C:\\Users\\ZHANGR~1\\AppData\\Local\\Temp\\launch_params_pjwupie2 --params-file C:\\ros_ws\\webots_ros2\\install\\webots_ros2_turtlebot\\share\\webots_ros2_turtlebot\\resource\\ros2control.yml -r /diffdrive_controller/cmd_vel_unstamped:=/cmd_vel'].
[INFO] [turtlebot3_burger_example.wbt" --batch --mode=realtime-3]: process has finished cleanly [pid 8760]
[WARNING] [static_transform_publisher.EXE-6]: 'SIGINT' sent to process[static_transform_publisher.EXE-6] not supported on Windows, escalating to 'SIGTERM'
[INFO] [static_transform_publisher.EXE-6]: sending signal 'SIGTERM' to process[static_transform_publisher.EXE-6]
[WARNING] [robot_state_publisher.EXE-4]: 'SIGINT' sent to process[robot_state_publisher.EXE-4] not supported on Windows, escalating to 'SIGTERM'
[INFO] [robot_state_publisher.EXE-4]: sending signal 'SIGTERM' to process[robot_state_publisher.EXE-4]
[ERROR] [static_transform_publisher.EXE-6]: process has died [pid 14472, exit code 1, cmd 'c:\\opt\\ros\\foxy\\x64\\lib\\tf2_ros\\static_transform_publisher.EXE 0 0 0 0 0 0 base_link base_footprint --ros-args'].
[ERROR] [robot_state_publisher.EXE-4]: process has died [pid 13360, exit code 1, cmd 'c:\\opt\\ros\\foxy\\x64\\lib\\robot_state_publisher\\robot_state_publisher.EXE --ros-args --params-file C:\\Users\\ZHANGR~1\\AppData\\Local\\Temp\\launch_params_76pw996q'].