CMake Error at CMakeLists.txt:5 (find_package):
By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "catkin", but
CMake did not find one.
Could not find a package configuration file provided by "catkin" with any
of the following names:
catkinConfig.cmake
catkin-config.cmake
Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set
"catkin_DIR" to a directory containing one of the above files. If "catkin"
provides a separate development package or SDK, be sure it has been
installed.
from ament_index_python.packages import get_package_share_path
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import Command, LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
def generate_launch_description():
package_path = get_package_share_path('yahboomcar_nav')
default_rviz_config_path = package_path / 'rviz/view.rviz'
rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=str(default_rviz_config_path),
description='Absolute path to rviz config file')
rviz_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', LaunchConfiguration('rvizconfig')],
)
return LaunchDescription([
rviz_arg,
rviz_node
])
bash复制代码
bohu@bohu-TM1701:~/yahboomcar/yahboomcar_ws$ ros2 launch yahboomcar_bringup yahboomcar_bringup_launch.py
[INFO] [launch]: All log files can be found below /home/bohu/.ros/log/2025-01-30-14-52-59-130561-bohu-TM1701-316456
[INFO] [launch]: Default logging verbosity is set to INFO
---------------------robot_type = x3---------------------
[INFO] [complementary_filter_node-1]: process started with pid [316458]
[INFO] [ekf_node-2]: process started with pid [316460]
[INFO] [static_transform_publisher-3]: process started with pid [316462]
[INFO] [joint_state_publisher-4]: process started with pid [316464]
[INFO] [robot_state_publisher-5]: process started with pid [316466]
[INFO] [static_transform_publisher-6]: process started with pid [316468]
[static_transform_publisher-3] [WARN] [1738219979.422738190] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-6] [WARN] [1738219979.430808316] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-3] [INFO] [1738219979.474861598] [base_link_to_base_imu]: Spinning until stopped - publishing transform
[static_transform_publisher-3] translation: ('-0.002999', '-0.003000', '0.031701')
[static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-3] from 'base_link' to 'imu_frame'
[static_transform_publisher-6] [INFO] [1738219979.486498703] [static_transform_publisher_dyynkHgPuvMB4QSZ]: Spinning until stopped - publishing transform
[static_transform_publisher-6] translation: ('0.000000', '0.000000', '0.050000')
[static_transform_publisher-6] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-6] from 'base_footprint' to 'base_link'
[complementary_filter_node-1] [INFO] [1738219979.494221633] [complementary_filter_gain_node]: Starting ComplementaryFilterROS
[robot_state_publisher-5] [WARN] [1738219979.497129656] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-5] [INFO] [1738219979.497311822] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1738219979.497405894] [robot_state_publisher]: got segment imu_Link
[robot_state_publisher-5] [INFO] [1738219979.497427256] [robot_state_publisher]: got segment jq1_Link
[robot_state_publisher-5] [INFO] [1738219979.497440404] [robot_state_publisher]: got segment jq2_Link
[robot_state_publisher-5] [INFO] [1738219979.497453384] [robot_state_publisher]: got segment radar_Link
[robot_state_publisher-5] [INFO] [1738219979.497465220] [robot_state_publisher]: got segment yh_Link
[robot_state_publisher-5] [INFO] [1738219979.497477294] [robot_state_publisher]: got segment yq_Link
[robot_state_publisher-5] [INFO] [1738219979.497489516] [robot_state_publisher]: got segment zh_Link
[robot_state_publisher-5] [INFO] [1738219979.497501480] [robot_state_publisher]: got segment zq_Link
[joint_state_publisher-4] [INFO] [1738219980.049008205] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
然后，启动rviz，可视化建图，终端输入，
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ros2 launch yahboomcar_nav display_launch.py
此时还没运行建图节点，所以没有数据。接下来运行建图节点，终端输入，
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ros2 launch yahboomcar_nav map_gmapping_launch.py
python复制代码
from launch import LaunchDescription
from launch_ros.actions import Node
import os
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
slam_gmapping_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('slam_gmapping'), 'launch'),
'/slam_gmapping.launch.py'])
)
base_link_to_laser_tf_node = Node(
package='tf2_ros',
executable='static_transform_publisher',
name='base_link_to_base_laser',
arguments=['-0.0046412', '0' , '0.094079','0','0','0','base_link','laser_frame']
)
return LaunchDescription([slam_gmapping_launch,base_link_to_laser_tf_node])
复制代码
#启动键盘控制
ros2 run yahboomcar_ctrl yahboom_keyboard
控制小车慢慢转一圈。最终效果如下
生成的map
建图完毕后，输入以下指令保存地图，终端输入，
复制代码
ros2 launch yahboomcar_nav save_map_launch.py
python复制代码
from ament_index_python.packages import get_package_share_path
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
import os
def generate_launch_description():
package_share_path = str(get_package_share_path('yahboomcar_nav'))
package_path = os.path.abspath(os.path.join(
package_share_path, "../../../../src/yahboomcar_nav"))
map_name = "yahboom_map"
default_map_path = os.path.join(package_path, 'maps', map_name)
map_arg = DeclareLaunchArgument(name='map_path', default_value=str(default_map_path),
description='The path of the map')
map_saver_node = Node(
package='nav2_map_server',
executable='map_saver_cli',
arguments=[
'-f', LaunchConfiguration('map_path'), '--ros-args', '-p', 'save_map_timeout:=60000.00'],
)
return LaunchDescription([
map_arg,
map_saver_node
])
bash复制代码
bohu@bohu-TM1701:~/yahboomcar/yahboomcar_ws$ ros2 launch yahboomcar_nav save_map_launch.py
[INFO] [launch]: All log files can be found below /home/bohu/.ros/log/2025-01-30-15-33-14-161314-bohu-TM1701-319017
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [map_saver_cli-1]: process started with pid [319018]
[map_saver_cli-1] [INFO] [1738222394.419546962] [map_saver]:
[map_saver_cli-1] map_saver lifecycle node launched.
[map_saver_cli-1] Waiting on external lifecycle transitions to activate
[map_saver_cli-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_saver_cli-1] [INFO] [1738222394.419654445] [map_saver]: Creating
[map_saver_cli-1] [INFO] [1738222394.419713380] [map_saver]: Configuring
[map_saver_cli-1] [INFO] [1738222394.420777030] [map_saver]: Saving map from 'map' topic to '/home/bohu/yahboomcar/yahboomcar_ws/src/yahboomcar_nav/maps/yahboom_map' file
[map_saver_cli-1] [WARN] [1738222394.420801411] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000
[map_saver_cli-1] [WARN] [1738222394.420813330] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000
[map_saver_cli-1] [WARN] [1738222395.293844583] [map_io]: Image format unspecified. Setting it to: pgm
[map_saver_cli-1] [INFO] [1738222395.294086677] [map_io]: Received a 384 X 608 map @ 0.05 m/pix
[map_saver_cli-1] [INFO] [1738222395.473549155] [map_io]: Writing map occupancy data to /home/bohu/yahboomcar/yahboomcar_ws/src/yahboomcar_nav/maps/yahboom_map.pgm
[map_saver_cli-1] [INFO] [1738222395.474901659] [map_io]: Writing map metadata to /home/bohu/yahboomcar/yahboomcar_ws/src/yahboomcar_nav/maps/yahboom_map.yaml
[map_saver_cli-1] [INFO] [1738222395.475071124] [map_io]: Map saved
[map_saver_cli-1] [INFO] [1738222395.475082707] [map_saver]: Map saved successfully
[map_saver_cli-1] [INFO] [1738222395.737027994] [map_saver]: Destroying
[INFO] [map_saver_cli-1]: process has finished cleanly [pid 319018]
