程序员经验分享-hwhale

rviz和tf树报错修改

2023-05-16

 跟着这个博主进行多机器人仿真，一直出错，有点崩溃了

ROS仿真笔记之——基于gazebo的ROS多机器人仿真_gwpscut的博客-CSDN博客 

TF_REPEATED_DATA warnings - ROS Answers: Open Source Q&A Forum 

尝试1：没有用

<publishWheelTF>false</publishWheelTF>
<publishWheelJointState>false</publishWheelJointState>

尝试2：虽然机器人模型不报错了，但是warning仍旧报错，尝试查看tf树

 尝试3：

rosrun rqt_tf_tree rqt_tf_tree

 报错

Traceback (most recent call last):
  File "/opt/ros/noetic/lib/rqt_tf_tree/rqt_tf_tree", line 8, in <module>
    sys.exit(main.main(sys.argv, standalone='rqt_tf_tree.tf_tree.RosTfTree'))
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/main.py", line 65, in main
    hash(os.environ['ROS_PACKAGE_PATH'])))
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/main.py", line 407, in main
    from python_qt_binding import QT_BINDING
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/__init__.py", line 55, in <module>
    from .binding_helper import loadUi, QT_BINDING, QT_BINDING_MODULES, QT_BINDING_VERSION  # @UnusedImport
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 276, in <module>
    getattr(sys, 'SELECT_QT_BINDING_ORDER', None),
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 120, in _select_qt_binding
    (', '.join(["'%s'" % b for b in binding_order]), '\n'.join(error_msgs)))
ImportError: Could not find Qt binding (looked for: 'pyqt', 'pyside'):
  ImportError for 'pyqt': No module named 'PyQt5'
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 108, in _select_qt_binding
    QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 153, in _load_pyqt
    _named_import('PyQt5.%s' % module_name)
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 133, in _named_import
    module = builtins.__import__(name)
ModuleNotFoundError: No module named 'PyQt5'

  ImportError for 'pyside': No module named 'PySide2'
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 108, in _select_qt_binding
    QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 185, in _load_pyside
    _named_import('PySide2.%s' % module_name)
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 133, in _named_import
    module = builtins.__import__(name)
ModuleNotFoundError: No module named 'PySide2'

安装pyqt5

pip install PyQt5 -i https://pypi.douban.com/simple

继续运行rosrun rqt_tf_tree rqt_tf_tree，报错

RosPluginProvider.load(qt_gui_cpp/CppPluginProvider) exception raised in __builtin__.__import__(qt_gui_cpp.cpp_plugin_provider, [CppPluginProvider]):
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_plugin_provider.py", line 33, in <module>
    from .cpp_binding_helper import qt_gui_cpp
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
    from . import libqt_gui_cpp_sip
ValueError: PyCapsule_GetPointer called with incorrect name

RecursivePluginProvider.discover() loading plugin "qt_gui_cpp/CppPluginProvider" failed:
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/recursive_plugin_provider.py", line 60, in discover
    instance = self._plugin_provider.load(plugin_descriptor.plugin_id(), None)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 90, in load
    raise e
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_plugin_provider.py", line 33, in <module>
    from .cpp_binding_helper import qt_gui_cpp
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
    from . import libqt_gui_cpp_sip
ValueError: PyCapsule_GetPointer called with incorrect name

RosPluginProvider.load(rqt_tf_tree/RosTfTree) exception raised in __builtin__.__import__(rqt_tf_tree.tf_tree, [RosTfTree]):
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_tf_tree/tf_tree.py", line 47, in <module>
    from qt_dotgraph.pydotfactory import PydotFactory
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_dotgraph/pydotfactory.py", line 41, in <module>
    import pydot
ModuleNotFoundError: No module named 'pydot'

PluginManager._load_plugin() could not load plugin "rqt_tf_tree/RosTfTree":
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/plugin_handler.py", line 102, in load
    self._load()
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/plugin_handler_direct.py", line 55, in _load
    self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui_py/ros_py_plugin_provider.py", line 61, in load
    return super(RosPyPluginProvider, self).load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 90, in load
    raise e
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_tf_tree/tf_tree.py", line 47, in <module>
    from qt_dotgraph.pydotfactory import PydotFactory
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_dotgraph/pydotfactory.py", line 41, in <module>
    import pydot
ModuleNotFoundError: No module named 'pydot'
pip install pyqt5==5.10.1

继续运行，报错

Could not import "pyqt" bindings of qt_gui_cpp library - so C++ plugins will not be available:
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
    from . import libqt_gui_cpp_sip
ImportError: /home/zyd/anaconda3/envs/py37/lib/python3.7/site-packages/PyQt5/Qt/lib/libQt5Core.so.5: version `Qt_5.12' not found (required by /opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/libqt_gui_cpp_sip.so)

RosPluginProvider.load(rqt_tf_tree/RosTfTree) exception raised in __builtin__.__import__(rqt_tf_tree.tf_tree, [RosTfTree]):
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_tf_tree/tf_tree.py", line 47, in <module>
    from qt_dotgraph.pydotfactory import PydotFactory
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_dotgraph/pydotfactory.py", line 41, in <module>
    import pydot
ModuleNotFoundError: No module named 'pydot'

PluginManager._load_plugin() could not load plugin "rqt_tf_tree/RosTfTree":
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/plugin_handler.py", line 102, in load
    self._load()
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/plugin_handler_direct.py", line 55, in _load
    self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui_py/ros_py_plugin_provider.py", line 61, in load
    return super(RosPyPluginProvider, self).load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 90, in load
    raise e
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_tf_tree/tf_tree.py", line 47, in <module>
    from qt_dotgraph.pydotfactory import PydotFactory
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_dotgraph/pydotfactory.py", line 41, in <module>
    import pydot
ModuleNotFoundError: No module named 'pydot'
pip install pydot

报错 ，但是出现tf树了

Could not import "pyqt" bindings of qt_gui_cpp library - so C++ plugins will not be available:
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
    from . import libqt_gui_cpp_sip
ImportError: /home/zyd/anaconda3/envs/py37/lib/python3.7/site-packages/PyQt5/Qt/lib/libQt5Core.so.5: version `Qt_5.12' not found (required by /opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/libqt_gui_cpp_sip.so)

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 2760.637000 according to authority /gazebo
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp

尝试卸载PyQt5

pip uninstall PyQt5
pip list 
pip uninstall PyQt5-Qt5   5.15.2
  Successfully uninstalled PyQt5-Qt5-5.15.2
WARNING: Skipping 5.15.2 as it is not installed.

再次pip list没有PyQt5了，虽然有一个 PyQt5-sip  12.11.0，暂时不管，重新安装5.10

 

Collecting pyqt5==5.10.1
  Using cached PyQt5-5.10.1-5.10.1-cp35.cp36.cp37.cp38-abi3-manylinux1_x86_64.whl (107.8 MB)
Requirement already satisfied: sip<4.20,>=4.19.4 in /home/zyd/anaconda3/envs/py37/lib/python3.7/site-packages (from pyqt5==5.10.1) (4.19.8)
Installing collected packages: pyqt5
Successfully installed pyqt5-5.10.1

还是先卸载sip吧，估计有问题

pip uninstall PyQt5-sip                     12.11.0

 运行tf树还是出现这个蓝色字体，tf树看起来问题很大的样子

ImportError: /home/zyd/anaconda3/envs/py37/lib/python3.7/site-packages/PyQt5/Qt/lib/libQt5Core.so.5: version `Qt_5.12' not found (required by /opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/libqt_gui_cpp_sip.so)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

本文内容由网友自发贡献，版权归原作者所有，本站不承担相应法律责任。如您发现有涉嫌抄袭侵权的内容，请联系:hwhale#tublm.com(使用前将#替换为@)

RVIZ

树报错修改

rviz和tf树报错修改 的相关文章

  • 在rviz中出现For frame [laser]: Fixed Frame [laser_link] does not exist

    参考 xff1a 链接 一 激光雷达在rviz中没有显示扫描数据 二 解决方法 topic报frame transform之类错误 xff0c 就有两个办法 xff1a 1 把global fixed frame设成topic自己所在的坐标

  • rviz

    我发现小觅和T265最后安装好后都是通过rviz查看图像 小觅可以见它的官网SDK教程 xff0c 这里我先不暂时写 xff0c 因为时间有限 https blog csdn net zhengjieCYD article details

  • Ubuntu18.04安装Ros Melodic 以及测试rviz

    目录 一 检查Cmake版本 二 检查Ros版本 三 下载安装 1 把Unbuntu的软件源更换为国内的软件源 xff0c 这样可以提高下载速度 2 设置公钥并更新最新可用软件包列表 3 安装ROS 4 设置环境变量 5 下载其他功能组件

  • sw模型转urdf，并在gazebo和rviz中显示

    sw模型转urdf xff0c 并在gazebo和rviz中显示 1 sw模型转urdf1 1建立机器人的三维模型1 2机器人三维模型预处理1 3装配1 4建立坐标系 2 显示2 1 在gazebo中显示2 2 在rviz中显示 3 让模型

  • rviz闪退原因和解决办法

    rviz一启动就闪退 xff0c 可能是因为一些rviz中读的话题数据有误 xff0c 比如path pose中的四元数为 0 0 0 0 xff0c rviz显示不了这样的位姿 xff0c 就会自动关闭 而这样的不合格的数据往往是话题初始

  • rviz 选取点云数据

  • Gazebo/Rviz仿真打开URDF模型

    当我们通过Solidworks成功导出URDF模型之后 xff0c 我们当然很希望在ROS中观察到自己导入的模型 ROS中有两个非常好的插件 xff0c 一个是RViz另一个是Gazebo 其中RViz类似一个可视化平台 xff0c 而Ga

  • ROS进阶学习手记 7 -- RViz仿真实例1

    任务2 xff1a 用simulator RViz 工具 xff0c 完成对小车的建模 xff0c 名字drive RViz 61 dvrv 用 dvrv node 发布topic和数据格式 xff0c 向它发送位置指令 xff0c 使它能

  • rviz远程查看机器人显示

    1 使用rviz远程查看机器人显示 1 1 已有设备 本地主机 ip为192 168 2 102 机器人主机 ip192 168 2 104 主机名 xff1a hhh 2 配置本地 bashrc sudo gedit bashrc 输入

  • 从RealsenseD435 摄像头获取点云数据并滤波后在ROS中通过rviz显示

    从RealsenseD435 摄像头获取点云数据并滤波后在ROS中通过rviz显示 以体素滤波为例 参考以下博客 xff1a https blog csdn net jack20030552 article details 80269486

  • rviz无法显示的问题

    1 启用初始化配置 首先删除保存好的rviz xff0c 运行最初始化的配置 rviz运行后会选择保存在 home cbc rviz default rviz 删除之后 xff0c 重新运行 xff1a roscore rosrun rvi

  • tigervnc+noVNC远程使用RViz

    写在前面 遇到了远程桌面访问ubuntu系统并使用RViz的需要 xff0c 试了常用的vnc4server xff0c 在没有外接显示器的情况下 xff0c vnc4server需要虚拟一个显示器出来 xff0c 虚拟显示器可以使用Xvf

  • Ubuntu 16.04+ROS kinetic+rviz模拟turtlebot机器人时出现的问题-

    鉴于ROS kinetic 版本主能兼容 ubuntu 16 04和15 01版本 xff0c 而16 04的版本由于环境比较新 xff0c 感觉还有很多问题需要解决 博主在进行RVIZ模拟仿真机器人跑时 xff0c 出现了以下问题 xff

  • ROS学习（2）——rviz与gazebo问题记录

    ROS学习 xff08 2 xff09 rviz与gazebo问题记录 继续按照教程学习 xff0c 踩了很多坑 1 工作环境配置问题 实践6 2 4在rviz中显示模型时 xff0c 运行launch文件出现如下报错 原因 xff1a 出

  • 【ROS基础】rviz打开后如何显示实时2D地图

    1 背景 launch 了一个建图程序 xff0c 并打开了 rviz xff0c rviz 中也 add 了 map xff0c 但是 rviz 中并未出现期望的2D地图 xff0c 让人很是手足无措 2 问题解决 百度了才发现自己使用的

  • 智能小车建图导航-在rviz中导航（运行）

    笔记来源 xff1a 机器人开发与实践 xff08 古月 xff09 或者直接运行这个脚本文件 xff1a xff08 如果你没有在 bracsh文件中加入source xff0c 建议加入或者在脚本文件的上面中添加source xff0c

  • rviz显示urdf模型：No transform from [base_link] to [base_footprint]

    问题描述 No transform from base link to base footprint 创建URDF模型在rviz中显示时 xff0c 可以显示模型形状 xff0c 但不显示颜色 xff0c 如下图 xff1a 问题分析 rv

  • rviz出现Transform [sender=unknown_publisher]For frame [hokuyo_link]: Fixed Frame [map] does not exist

    这是因为本身建模的时候没有用tf包工具发布global fixed frame到topic所在坐标系的tf关系 xff0c 通俗来讲就是模型fixed frame与rviz的不匹配 解决办法 xff1a 修改Fixed frame xff0

  • Rviz 使用Arbotix控制机器人运动

    需求 控制机器人模型在 rviz 中做圆周运动 实现流程 安装 Arbotix创建新功能包 xff0c 准备机器人 urdf xacro 文件添加 Arbotix 配置文件编写 launch 文件配置 Arbotix启动 launch 文件

  • ROS--URDF集成Gazebo仿真小车和rviz结合

    ROS URDF集成Gazebo仿真小车 实现流程 需要编写封装惯性矩阵算法的 xacro 文件 为机器人模型中的每一个 link 添加 collision 和 inertial 标签 xff0c 并且重置颜色属性 在 launch 文件中

随机推荐

热门标签