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ROS报错

报错1：roscore报错

[ERROR] [1685197203.713679712]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...

  执行ROS命令出错，因为忘记执行roscore

报错2：roslaunch调用报错

RLException: [irataus.launch] is neither a launch file in package [ratslam_ros] nor is [ratslam_ros] a launch file name
The traceback for the exception was written to the log file

  执行ROS命令出错，因为没有source devel/setup.bash

报错3：安装ROS工具报错

p@p:~/ROS/tranfrom$ sudo apt install ros-noetic-tf2-tools
[sudo] password for p: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package ros-noetic-tf2-tools
  1. 盲目的复制了下载命令，没有更改命令中的ROS版本。更换位对应的ROS版本即可。如果不是，换源尝试。
  2. 如果是非ROS的安装包错误，比如无法定位软件包 libmrpt-vision-dev 这种情况一般也是安装包名字错了，我们可以在当前环境下搜索下关于mrpt的包
apt search mrpt			# mrpt 改为lib后面的包名 
# 下面给出了部分的搜索结果
libmrpt-opengl1.5/bionic 1:1.5.5-1 amd64
  Mobile Robot Programming Toolkit - opengl library

libmrpt-slam1.5/bionic 1:1.5.5-1 amd64
  Mobile Robot Programming Toolkit - slam library

libmrpt-vision1.5/bionic 1:1.5.5-1 amd64		# 很明显libmrpt-vision1.5就是我们要找的包
  Mobile Robot Programming Toolkit - vision library

报错4 ：rosbag录制报错

p@p:~$ rosbag record -a -o bag/haa.bag
[ INFO] [1690294610.801329505]: Subscribing to /turtle1/color_sensor
[ERROR] [1690294610.802878010]: Error writing: Error opening file: bag/haa_2023-07-25-20-16-50.bag.active

使用录制命令报错如下，原因

  1. 文件写错了
  2. 当前文件下没有bag文件，要么写绝对路径，要么在有bag文件的文件夹打开终端。

报错5 ：rospack找不到ROS功能包

rospack found package "ORB_SLAM2" at "", but the currentdirectory is "/home/xxx/ORB_SLAM2-master/Examples/ROS/ORB_SLAM2
  • 报错原因

rospack found package指出这个报错的本质是rospack find ROS功能包 失败，找不到这个功能包，解决办法就是把功能包的路径加入到功能包路径${ROS_PACKAGE_PATH}，然后再次编译即可成功（如果还是报同样的错，那就是路径不对，比如我这里一直报错因为home前面/忘打了）。

  • 解决方法：
# 第一步 打开bashrc文件
1 gedit ~/.bashrc 
# 第二步 然后在最后加上下面这句(相应功能包的位置，最好是pwd然后复制过来)
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/xxx/ORB_SLAM2/Examples/ROS
# 第三步 刷新
source ~/.bashrc	
# 第四步 验证修改
echo ${ROS_PACKAGE_PATH}   # 查看ROS包当前路径
# 第五步 也可以直接搜索
p@p: rospack list | grep ORB_SLAM2 # 直接查找ROS包ORB_SLAM2  这里直接填要找的包名
ORB_SLAM2 /home/p/ORB_SLAM2-master/Examples/ROS/ORB_SLAM2

报错6：rospack调用失败

  Failed to invoke rospack to get compile flags for package 'ORB_SLAM2'. Look above for errors from rospack itself. Aborting. Please fix the broken dependency!
  上面的报错说明使用rospack获取软件包信息时，rospack本身也遇到了错误，因此无法继续进行操作。这可能是由于系统环境或ROS配置出现问题导致的。

  • 解决办法
$ sudo rosdep fix-permissions	# 修复ROS软件包安装过程中可能出现的权限问题
$ rosdep update			# 更新ROS的依赖关系数据库

报错7：roscore失败

RLException: Unable to contact my own server at [http://192.168.0.136:44343/].
This usually means that the network is not configured properly.

A common cause is that the machine cannot connect to itself.  Please check
for errors by running:

	ping 192.168.0.136

For more tips, please see

	http://wiki.ros/ROS/NetworkSetup

The traceback for the exception was written to the log file

  这里是使用了别人提供的虚拟机环境，这个虚拟机被设置为从机（bashrc中查看），把下面两行注释即可

export ROS_MASTER_URI = “xxx”
export ROS_HOSTNAME=192.168.0.136

报错8：编译多个功能包失败（存在依赖）

  利用imu_utils进行imu的标定时，有两个功能包，直接编译会报错。
  创建一个ROS空间，把两个ROS包放进去，然后catkin_make.如果这样做的话，大概率会报下面的错误。本质就是imu_utils依赖于code_utils这个包，但实际上我们之前没有按照那个包，就会报下面的错，其实可以在catkin_make之前显示的告诉它路径，或者就是先编译成功code_utils，再编译imu_utils（编译完一个再把另一个放进去）。

-- +++ processing catkin package: 'imu_utils'
-- ==> add_subdirectory(imu_utils)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find code_utils (missing: code_utils_DIR)
-- Could not find the required component 'code_utils'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "code_utils" with
  any of the following names:

    code_utilsConfig.cmake
    code_utils-config.cmake

  Add the installation prefix of "code_utils" to CMAKE_PREFIX_PATH or set
  "code_utils_DIR" to a directory containing one of the above files.  If
  "code_utils" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  imu_utils/CMakeLists.txt:13 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/pj/pj/vio_with_only_eigen/imu_allan/build/CMakeFiles/CMakeOutput.log".
See also "/home/pj/pj/vio_with_only_eigen/imu_allan/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

报错9：找不到glog.so动态库文件

  报错显示没找到glog.so动态库文件，但是这个环境前两天刚装的，所以必然不是这个问题

make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libglog.so', needed by '/home/pj/pj/vio_with_only_eigen/imu_allan/devel/lib/libpnp.so'.  Stop.
make[2]: *** Waiting for unfinished jobs....
[ 92%] Building CXX object code_utils/CMakeFiles/pnp.dir/src/cv_utils/pnp/nonlinearpnp.cpp.o
make[1]: *** [CMakeFiles/Makefile2:804: code_utils/CMakeFiles/pnp.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j2 -l2" failed

​ locate下发现，库文件存在，但上面找的不是这个

pj@pj:~$ locate glog | grep so
...
/usr/lib/x86_64-linux-gnu/libglog.so.0
/usr/lib/x86_64-linux-gnu/libglog.so.0.0.0

​ libglog.so和 libglog.so.0，所以我们把这两个软链接起来就能解决问题

sudo ln -s /usr/lib/x86_64-linux-gnu/libglog.so.0 /usr/lib/x86_64-linux-gnu/libglog.so

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