ROS2 nav2_turorial on win10 ERROR!
Hi, guys.
I follow the office instruction to install ROS2 on win10, and it worked. So, I move on to use NAV2.
I follow the office instruction on NAV2, and download the souce code from this repo, and colon build was good, no errors.
Since I have no robotlocalization and no gazeboros, so I commet some code. Here is what i have changed:
import launch
from launch.substitutions import Command, LaunchConfiguration
import launch_ros
import os
def generate_launch_description():
pkg_share = launch_ros.substitutions.FindPackageShare(package='sam_bot_description').find('sam_bot_description')
default_model_path = os.path.join(pkg_share, 'src/description/sam_bot_description.urdf')
default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf_config.rviz')
# world_path=os.path.join(pkg_share, 'world/my_world.sdf')
robot_state_publisher_node = launch_ros.actions.Node(
package='robot_state_publisher',
executable='robot_state_publisher',
parameters=[{'robot_description': Command(
['xacro ', LaunchConfiguration('model')])}]
)
# joint_state_publisher_node = launch_ros.actions.Node(
# package='joint_state_publisher',
# executable='joint_state_publisher',
# name='joint_state_publisher',
# condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))
# )
rviz_node = launch_ros.actions.Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', LaunchConfiguration('rvizconfig')],
)
# spawn_entity = launch_ros.actions.Node(
# package='gazebo_ros',
# executable='spawn_entity.py',
# arguments=['-entity', 'sam_bot', '-topic', 'robot_description'],
# output='screen'
# )
# robot_localization_node = launch_ros.actions.Node(
# package='robot_localization',
# executable='ekf_node',
# name='ekf_filter_node',
# output='screen',
# parameters=[os.path.join(pkg_share, 'config/ekf.yaml'),
# {'use_sim_time': LaunchConfiguration('use_sim_time')}]
# )
return launch.LaunchDescription([
# launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
# description='Flag to enable joint_state_publisher_gui'),
launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path,
description='Absolute path to robot urdf file'),
launch.actions.DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
description='Absolute path to rviz config file'),
# launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='True',
# description='Flag to enable use_sim_time'),
# launch.actions.ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
# '-s', 'libgazebo_ros_factory.so', world_path], output='screen'),
# joint_state_publisher_node,
robot_state_publisher_node,
# spawn_entity,
# robot_localization_node,
rviz_node
])
And when i run
ros2 launch sam_bot_description display.launch.py
well, errors happen.
Finished <<< sam_bot_description [2.53s]
Summary: 1 package finished [2.84s]
D:\ros2_test_ws>call install\setup.bat
D:\ros2_test_ws>ros2 launch sam_bot_description display.launch.py
[INFO] [launch]: All log files can be found below C:\Users\Long\.ros\log\2023-08-03-17-38-27-021148-DESKTOP-T4BLJGU-19644
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): file not found: [WinError 2]
Well, I truely don't know what file miss.
Before I launched , I do run call install\setup.bat
first.
Dose anyone can help me out? Many thanks.
Asked by ros_wolf on 2023-08-03 04:48:32 UTC
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