纯ROS2环境底盘节点报错

Frank

大佬们好

我在Ubuntu 18中安装ROS2 Eloquent，没有安装ROS1环境。安装依赖后能成功编译“wheeltec_ros2”，但是运行底盘节点"turn_on_wheeltec_robot"时有如下报错。网上查找资料仍没有头绪，请问能否帮忙排查一下，告知可能的解决方向？
万分感谢。

Log：

1. 1629123852.5528913 [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-08-16-14-24-12-359217-ubuntu-2150
   
2. 1629123852.5536616 [INFO] [launch]: Default logging verbosity is set to INFO
   
3. 1629123852.8116174 [ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'joint_state_publisher' not found, searching: ['/home/ubuntu/wheeltec_ros2/install/wheeltec_slam_toolbox', '/home/ubuntu/wheeltec_ros2/install/wheeltec_robot_urdf', '/home/ubuntu/wheeltec_ros2/install/wheeltec_robot_nav', '/home/ubuntu/wheeltec_ros2/install/simple_follower_ros2', '/home/ubuntu/wheeltec_ros2/install/turn_on_wheeltec_robot', '/home/ubuntu/wheeltec_ros2/install/data_collection', '/home/ubuntu/wheeltec_ros2/install/wheeltec_robot_msg', '/home/ubuntu/wheeltec_ros2/install/wheeltec_robot_keyboard', '/home/ubuntu/wheeltec_ros2/install/wheeltec_cartographer', '/home/ubuntu/wheeltec_ros2/install/usb_cam', '/home/ubuntu/wheeltec_ros2/install/tf2_tools', '/home/ubuntu/wheeltec_ros2/install/slam_gmapping', '/home/ubuntu/wheeltec_ros2/install/serial', '/home/ubuntu/wheeltec_ros2/install/rplidar_ros2', '/home/ubuntu/wheeltec_ros2/install/robot_localization', '/home/ubuntu/wheeltec_ros2/install/openslam_gmapping', '/home/ubuntu/wheeltec_ros2/install/nav2_system_tests', '/home/ubuntu/wheeltec_ros2/install/nav2_bringup', '/home/ubuntu/wheeltec_ros2/install/navigation2', '/home/ubuntu/wheeltec_ros2/install/nav2_dwb_controller', '/home/ubuntu/wheeltec_ros2/install/nav2_controller', '/home/ubuntu/wheeltec_ros2/install/dwb_plugins', '/home/ubuntu/wheeltec_ros2/install/dwb_critics', '/home/ubuntu/wheeltec_ros2/install/dwb_core', '/home/ubuntu/wheeltec_ros2/install/nav_2d_utils', '/home/ubuntu/wheeltec_ros2/install/dwb_msgs', '/home/ubuntu/wheeltec_ros2/install/nav_2d_msgs', '/home/ubuntu/wheeltec_ros2/install/nav2_waypoint_follower', '/home/ubuntu/wheeltec_ros2/install/nav2_recoveries', '/home/ubuntu/wheeltec_ros2/install/nav2_planner', '/home/ubuntu/wheeltec_ros2/install/nav2_navfn_planner', '/home/ubuntu/wheeltec_ros2/install/nav2_core', '/home/ubuntu/wheeltec_ros2/install/costmap_queue', '/home/ubuntu/wheeltec_ros2/install/nav2_costmap_2d', '/home/ubuntu/wheeltec_ros2/install/nav2_voxel_grid', '/home/ubuntu/wheeltec_ros2/install/nav2_rviz_plugins', '/home/ubuntu/wheeltec_ros2/install/nav2_map_server', '/home/ubuntu/wheeltec_ros2/install/nav2_lifecycle_manager', '/home/ubuntu/wheeltec_ros2/install/nav2_bt_navigator', '/home/ubuntu/wheeltec_ros2/install/nav2_behavior_tree', '/home/ubuntu/wheeltec_ros2/install/nav2_amcl', '/home/ubuntu/wheeltec_ros2/install/nav2_util', '/home/ubuntu/wheeltec_ros2/install/nav2_msgs', '/home/ubuntu/wheeltec_ros2/install/nav2_gazebo_spawner', '/home/ubuntu/wheeltec_ros2/install/nav2_common', '/home/ubuntu/wheeltec_ros2/install/behaviortree_cpp_v3', '/home/ubuntu/wheeltec_ros2/install/ackermann_msgs', '/opt/ros/eloquent']"
   
4. 1629123853.6802182 [INFO] [wheeltec_robot_node-1]: process started with pid [2161]
   
5. 1629123853.6812713 [INFO] [cmd_vel_to_ackermann_drive.py-2]: process started with pid [2162]
   
6. 1629123853.6821418 [INFO] [static_transform_publisher-3]: process started with pid [2163]
   
7. 1629123853.6830151 [INFO] [static_transform_publisher-4]: process started with pid [2164]
   
8. 1629123853.6876943 [INFO] [cmd_vel_to_ackermann_drive.py-2]: sending signal 'SIGINT' to process[cmd_vel_to_ackermann_drive.py-2]
   
9. 1629123853.6919022 [INFO] [wheeltec_robot_node-1]: sending signal 'SIGINT' to process[wheeltec_robot_node-1]
   
10. 1629123853.7373438 [wheeltec_robot_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
    
11. 1629123853.7421701 [wheeltec_robot_node-1]   what():  Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-eloquent-rcl-0.8.5/src/rcl/guard_condition.c:69
    
12. 1629123853.7945805 [ERROR] [cmd_vel_to_ackermann_drive.py-2]: process has died [pid 2162, exit code 1, cmd '/home/ubuntu/wheeltec_ros2/install/turn_on_wheeltec_robot/lib/turn_on_wheeltec_robot/cmd_vel_to_ackermann_drive.py --ros-args -r __node:=cmd_vel_to_ackermann_drive'].
    
13. 1629123854.3081503 [ERROR] [wheeltec_robot_node-1]: process has died [pid 2161, exit code -6, cmd '/home/ubuntu/wheeltec_ros2/install/turn_on_wheeltec_robot/lib/turn_on_wheeltec_robot/wheeltec_robot_node --ros-args --params-file /tmp/launch_params_q44w_gn6 -r /cmd_vel:=cmd_vel'].
    
14. 1629123858.6721938 [ERROR] [static_transform_publisher-4]: process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
    
15. 1629123858.6768434 [ERROR] [static_transform_publisher-3]: process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
    
16. 1629123858.6789229 [INFO] [static_transform_publisher-4]: sending signal 'SIGTERM' to process[static_transform_publisher-4]
    
17. 1629123858.6892827 [INFO] [static_transform_publisher-3]: sending signal 'SIGTERM' to process[static_transform_publisher-3]
    
18. 1629123858.6944149 [ERROR] [static_transform_publisher-4]: process has died [pid 2164, exit code -15, cmd '/opt/ros/eloquent/lib/tf2_ros/static_transform_publisher 0 0 0 0 0 0 base_footprint gyro_link --ros-args -r __node:=base_to_gyro'].
    
19. 1629123858.6974823 [ERROR] [static_transform_publisher-3]: process has died [pid 2163, exit code -15, cmd '/opt/ros/eloquent/lib/tf2_ros/static_transform_publisher 0 0 0 0 0 0 base_footprint base_link --ros-args -r __node:=base_to_link'].
    

复制代码

Wheeltec__某人

joint_state_publisher 这个包没装