No Python at 'E:\DeskTop\python.exe'

时间: 2023-07-21 22:10:05 浏览: 310
问题是找不到位于 'E:\DeskTop\python.exe' 的 Python 解释器。这可能是由于以下原因之一: 1. Python 未正确安装:请确保您已经正确地安装了 Python,并且安装路径与 'E:\DeskTop\python.exe' 相匹配。您可以在命令行中输入 `python` 来验证是否正确安装了 Python。如果未找到,请重新安装 Python 并确保选择正确的安装路径。 2. 环境变量配置错误:如果您已经正确地安装了 Python,但系统仍然无法找到它,请检查您的环境变量配置。确保您已经将 Python 的安装路径添加到系统的 PATH 环境变量中。这样系统才能找到并执行 Python 解释器。 3. 文件路径错误:如果您的文件路径中包含拼写错误或错误的文件名,则系统将无法找到正确的 Python 解释器。请检查路径中的拼写和文件名是否正确。 请注意,Python 的默认安装路径通常是在 "C:\PythonXX"(其中 XX 是版本号)或者 "C:\Users\YourUsername\AppData\Local\Programs\Python\PythonXX"。如果您将 Python 安装在不同的位置,请相应地更正路径。 如果问题仍然存在,请提供更多详细信息,例如其他错误消息或任何其他相关信息,以便我能够更好地帮助您解决问题。
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pycharm显示No Python at C:\Users\86138\Desktop\python.exe

pycharm显示"No Python at C:\Users\86138\Desktop\python.exe"的错误表示pycharm无法找到指定路径下的Python解释器。可以通过以下方法解决这个问题: 1. 首先,确保你已经正确安装了Python解释器,并记下其安装路径。 2. 在PyCharm中打开项目,然后点击"File"菜单,选择"Settings"。 3. 在设置窗口的左侧,展开"Project Interpreter"选项。 4. 在右侧的解释器列表中,点击右上角的齿轮图标,选择"Add..."。 5. 在弹出的窗口中,选择"System Interpreter"。 6. 在下拉菜单中选择正确的Python解释器,并点击"OK"按钮。 7. 如果列表中没有你想要使用的解释器,你可以点击"Show All..."按钮,然后选择解释器的安装路径,或者手动添加解释器的路径。 8. 确认设置后,点击"OK"按钮保存更改。 现在,PyCharm应该能够找到并使用指定路径下的Python解释器了。<span class="em">1</span><span class="em">2</span> #### 引用[.reference_title] - *1* [D:\Anaconda\Anconda3\python.exe: No module named pip](https://blog.csdn.net/m0_66279156/article/details/125233744)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v93^chatsearchT3_2"}}] [.reference_item style="max-width: 50%"] - *2* [python+毕业设计《基于Android的新闻推荐客户端设计与实现》+源码+课程作业](https://download.csdn.net/download/qq_35831906/88227015)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v93^chatsearchT3_2"}}] [.reference_item style="max-width: 50%"] [ .reference_list ]

SLF4J: Failed to load class "org.slf4j.impl.StaticLoggerBinder". SLF4J: Defaulting to no-operation (NOP) logger implementation SLF4J: See http://www.slf4j.org/codes.html#StaticLoggerBinder for further details. Starting ChromeDriver 138.0.7204.157 (e533e98b1267baa1f1c46d666b120e64e5146aa9-refs/branch-heads/7204@{#2046}) on port 56169 Only local connections are allowed. Please see https://chromedriver.chromium.org/security-considerations for suggestions on keeping ChromeDriver safe. ChromeDriver was started successfully on port 56169. 七月 22, 2025 3:00:19 下午 org.openqa.selenium.remote.ProtocolHandshake createSession 信息: Detected dialect: W3C 七月 22, 2025 3:00:19 下午 org.openqa.selenium.remote.http.WebSocket$Listener onError 警告: Invalid Status code=403 text=Forbidden java.io.IOException: Invalid Status code=403 text=Forbidden at org.asynchttpclient.netty.handler.WebSocketHandler.abort(WebSocketHandler.java:92) at org.asynchttpclient.netty.handler.WebSocketHandler.handleRead(WebSocketHandler.java:118) at org.asynchttpclient.netty.handler.AsyncHttpClientHandler.channelRead(AsyncHttpClientHandler.java:78) at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:379) at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:365) at io.netty.channel.AbstractChannelHandlerContext.fireChannelRead(AbstractChannelHandlerContext.java:357) at io.netty.channel.CombinedChannelDuplexHandler$DelegatingChannelHandlerContext.fireChannelRead(CombinedChannelDuplexHandler.java:436) at io.netty.handler.codec.ByteToMessageDecoder.fireChannelRead(ByteToMessageDecoder.java:327) at io.netty.handler.codec.ByteToMessageDecoder.fireChannelRead(ByteToMessageDecoder.java:314) at io.netty.handler.codec.ByteToMessageDecoder.callDecode(ByteToMessageDecoder.java:435) at io.netty.handler.codec.ByteToMessageDecoder.channelRead(ByteToMessageDecoder.java:279) at io.netty.channel.CombinedChannelDuplexHandler.channelRead(CombinedChannelDuplexHandler.java:251) at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:379) at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:365) at io.netty.channel.AbstractChannelHandlerContext.fireChannelRead(AbstractChannelHandlerContext.java:357) at io.netty.channel.DefaultChannelPipeline$HeadContext.channelRead(DefaultChannelPipeline.java:1410) at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:379) at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:365) at io.netty.channel.DefaultChannelPipeline.fireChannelRead(DefaultChannelPipeline.java:919) at io.netty.channel.nio.AbstractNioByteChannel$NioByteUnsafe.read(AbstractNioByteChannel.java:166) at io.netty.channel.nio.NioEventLoop.processSelectedKey(NioEventLoop.java:722) at io.netty.channel.nio.NioEventLoop.processSelectedKeysOptimized(NioEventLoop.java:658) at io.netty.channel.nio.NioEventLoop.processSelectedKeys(NioEventLoop.java:584) at io.netty.channel.nio.NioEventLoop.run(NioEventLoop.java:496) at io.netty.util.concurrent.SingleThreadEventExecutor$4.run(SingleThreadEventExecutor.java:986) at io.netty.util.internal.ThreadExecutorMap$2.run(ThreadExecutorMap.java:74) at io.netty.util.concurrent.FastThreadLocalRunnable.run(FastThreadLocalRunnable.java:30) at java.lang.Thread.run(Thread.java:748) Exception in thread "main" org.openqa.selenium.remote.http.ConnectionFailedException: Unable to establish websocket connection to http://localhost:63834/devtools/browser/40d77a6b-9ee5-4802-8897-2b3b99043dbd Build info: version: '4.1.3', revision: '7b1ebf28ef' System info: host: 'DESKTOP-I4PMGD7', ip: '192.168.158.1', os.name: 'Windows 10', os.arch: 'amd64', os.version: '10.0', java.version: '1.8.0_281' Driver info: driver.version: ChromeDriver at org.openqa.selenium.remote.http.netty.NettyWebSocket.<init>(NettyWebSocket.java:104) at org.openqa.selenium.remote.http.netty.NettyWebSocket.lambda$create$3(NettyWebSocket.java:137) at org.openqa.selenium.remote.http.netty.NettyClient.openSocket(NettyClient.java:132) at org.openqa.selenium.devtools.Connection.<init>(Connection.java:77) at org.openqa.selenium.chromium.ChromiumDriver.lambda$new$2(ChromiumDriver.java:124) at java.util.Optional.map(Optional.java:215) at org.openqa.selenium.chromium.ChromiumDriver.<init>(ChromiumDriver.java:122) at org.openqa.selenium.chrome.ChromeDriver.<init>(ChromeDriver.java:106) at org.openqa.selenium.chrome.ChromeDriver.<init>(ChromeDriver.java:93) at org.openqa.selenium.chrome.ChromeDriver.<init>(ChromeDriver.java:82) at org.example.selenium.SeleniumDemo.main(SeleniumDemo.java:15)什么问题?怎么解决?

<think>我们正在处理一个关于Selenium WebDriver连接问题的问题。用户遇到了一个错误:无法建立到ChromeDriver的WebSocket连接,并收到403 Forbidden错误。我们将参考提供的引用信息来解答。 根据引用[1]和[2],这个错误通常发生在使用较新版本的Chrome浏览器和ChromeDriver时。错误信息表明在尝试建立WebSocket连接时被拒绝(403 Forbidden)。 引用[2]和[4]提供了解决方案:在启动ChromeDriver时,通过ChromeOptions添加参数`--remote-allow-origins=*`。这个参数允许所有远程起源,从而解决连接被拒绝的问题。 此外,引用[4]还提到可以设置其他参数来优化浏览器行为,例如隐藏自动化控制标志和关闭提示。 因此,解决方案的核心是添加这个参数。下面我们将用中文详细说明解决步骤,并给出代码示例。 注意:引用[3]提到了使用Selenium处理动态加载内容,但与本问题无关,因此我们主要参考引用[1][2][4]。 步骤: 1. 确保ChromeDriver版本与Chrome浏览器版本兼容。 2. 在创建ChromeDriver实例时,通过ChromeOptions添加参数`--remote-allow-origins=*`。 下面以Java和Python为例给出代码: Java示例: ```java import org.openqa.selenium.WebDriver; import org.openqa.selenium.chrome.ChromeDriver; import org.openqa.selenium.chrome.ChromeOptions; public class ChromeTest { public static void main(String[] args) { // 设置ChromeDriver路径(如果未将驱动加入环境变量,则需要设置) // System.setProperty("webdriver.chrome.driver", "path/to/chromedriver"); ChromeOptions options = new ChromeOptions(); // 添加参数以解决403错误 options.addArguments("--remote-allow-origins=*"); // 可选:隐藏自动化控制标志 options.addArguments("--disable-blink-features=AutomationControlled"); // 可选:关闭“Chrome正受到自动测试软件的控制”提示 options.setExperimentalOption("useAutomationExtension", false); WebDriver driver = new ChromeDriver(options); driver.get("https://example.com"); // ... 其他操作 driver.quit(); } } ``` Python示例: ```python from selenium import webdriver from selenium.webdriver.chrome.options import Options chrome_options = Options() # 添加参数以解决403错误 chrome_options.add_argument("--remote-allow-origins=*") # 可选:隐藏自动化控制标志 chrome_options.add_argument('--disable-blink-features=AutomationControlled') # 可选:关闭提示 chrome_options.add_experimental_option("useAutomationExtension", False) chrome_options.add_experimental_option("excludeSwitches", ["enable-automation"]) driver = webdriver.Chrome(options=chrome_options) driver.get("https://example.com") # ... 其他操作 driver.quit() ``` 注意:如果问题仍然存在,请检查ChromeDriver和Chrome浏览器的版本是否匹配。可以到ChromeDriver官网下载与浏览器版本对应的驱动。 此外,引用[2]还提到Maven依赖版本的问题,建议不要使用过高或过低的Selenium版本。对于Java,推荐使用与ChromeDriver兼容的Selenium版本(例如4.x版本)。 总结:通过添加`--remote-allow-origins=*`参数,可以解决WebSocket连接403错误。 相关问题: 1. 如何解决Selenium ChromeDriver的403 Forbidden错误? 2. ChromeDriver启动时有哪些常用参数可以优化测试? 3. 如何确保ChromeDriver与Chrome浏览器版本兼容?</think>### Selenium ChromeDriver WebSocket连接403错误的解决方法 您在运行Selenium测试时遇到的`Unable to establish websocket connection`错误通常是由于Chrome浏览器安全策略更新导致的连接限制问题。以下是具体原因和解决方案: #### 错误原因分析 1. **Chrome安全策略更新**:Chrome 103+版本引入了新的跨域安全限制[^1] 2. **WebSocket连接被拒**:WebDriver尝试通过WebSocket协议与浏览器通信时被403 Forbidden拦截 3. **版本兼容问题**:ChromeDriver与浏览器版本不匹配会加剧此问题 4. **本地连接限制**:默认只允许`localhost`连接,需要显式授权远程连接[^2] #### 解决方案 **1. 添加必要的启动参数**(核心解决步骤) ```java // Java解决方案 ChromeOptions options = new ChromeOptions(); // 关键参数:允许所有远程连接 options.addArguments("--remote-allow-origins=*"); // 可选:禁用自动化控制提示 options.setExperimentalOption("useAutomationExtension", false); WebDriver driver = new ChromeDriver(options); ``` ```python # Python解决方案 from selenium import webdriver chrome_options = webdriver.ChromeOptions() chrome_options.add_argument("--remote-allow-origins=*") driver = webdriver.Chrome(options=chrome_options) ``` **2. 版本兼容性检查** - 确保Chrome浏览器与ChromeDriver版本匹配 - 推荐使用兼容的版本组合: ``` Chrome 103+ → ChromeDriver 103+ Chrome 113+ → ChromeDriver 113+ ``` - 通过`chrome://version/`查看浏览器版本 - 下载对应驱动:https://chromedriver.chromium.org/downloads **3. 其他可能需要的参数** ```java // 隐藏自动化控制标志 options.addArguments("--disable-blink-features=AutomationControlled"); // 禁用沙箱(仅测试环境使用) options.addArguments("--no-sandbox"); // 解决高权限问题 options.addArguments("--disable-dev-shm-usage"); ``` **4. Maven依赖建议**(Java项目) ```xml <dependency> <groupId>org.seleniumhq.selenium</groupId> <artifactId>selenium-java</artifactId> <version>4.10.0</version> <!-- 推荐稳定版本 --> </dependency> ``` #### 验证步骤 1. 添加参数后重启测试 2. 检查控制台是否仍有403错误 3. 验证浏览器是否正常启动 4. 确认页面元素可正常操作 > **注意**:若使用Selenium Grid,需在所有节点添加`--remote-allow-origins=*`参数[^4]
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>>> student.textFile("hdfs://master:9000/hesdless/Desktop/workspace/hdfs_op/sparkDir/student.txt") Traceback (most recent call last): File "<stdin>", line 1, in <module> AttributeError: 'RDD' object has no attribute 'textFile' >>> print(student.collect()) Traceback (most recent call last): File "<stdin>", line 1, in <module> File "/opt/module/spark-2.4.8-bin-hadoop2.7/python/pyspark/rdd.py", line 816, in collect sock_info = self.ctx._jvm.PythonRDD.collectAndServe(self._jrdd.rdd()) File "/opt/module/spark-2.4.8-bin-hadoop2.7/python/lib/py4j-0.10.7-src.zip/py4j/java_gateway.py", line 1257, in __call__ File "/opt/module/spark-2.4.8-bin-hadoop2.7/python/pyspark/sql/utils.py", line 63, in deco return f(*a, **kw) File "/opt/module/spark-2.4.8-bin-hadoop2.7/python/lib/py4j-0.10.7-src.zip/py4j/protocol.py", line 328, in get_return_value py4j.protocol.Py4JJavaError: An error occurred while calling z:org.apache.spark.api.python.PythonRDD.collectAndServe. : org.apache.hadoop.mapred.InvalidInputException: Input path does not exist: hdfs://master:9000/headless/Desktop/workspace/hdfs_op/student.txt at org.apache.hadoop.mapred.FileInputFormat.singleThreadedListStatus(FileInputFormat.java:287) at org.apache.hadoop.mapred.FileInputFormat.listStatus(FileInputFormat.java:229) at org.apache.hadoop.mapred.FileInputFormat.getSplits(FileInputFormat.java:315) at org.apache.spark.rdd.HadoopRDD.getPartitions(HadoopRDD.scala:204) at org.apache.spark.rdd.RDD$$anonfun$partitions$2.apply(RDD.scala:273) at org.apache.spark.rdd.RDD$$anonfun$partitions$2.apply(RDD.scala:269) at scala.Option.getOrElse(Option.scala:121) at org.apache.spark.rdd.RDD.partitions(RDD.scala:269) at org.apache.spark.rdd.MapPartitionsRDD.getPartitions(MapPartitionsRDD.scala:49) at org.apache.spark.rdd.RDD$$anonfun$partitions$2.apply(RDD.scala:273) at org.apache.spark.rdd.RDD$$anonfun$partitions$2.apply(RDD.scala:269) at scala.Option.getOrElse(Option.scala:121) at org.apache.spark.rdd.RDD.partitions(RDD.scala:269) at org.apache.spark.SparkContext.runJob(SparkContext.scala:2132) at org.apache.spark.rdd.RDD$$anonfun$collect$1.apply(RDD.scala:990) at org.apache.spark.rdd.RDDOperationScope$.withScope(RDDOperationScope.scala:151) at org.apache.spark.rdd.RDDOperationScope$.withScope(RDDOperationScope.scala:112) at org.apache.spark.rdd.RDD.withScope(RDD.scala:385) at org.apache.spark.rdd.RDD.collect(RDD.scala:989) at org.apache.spark.api.python.PythonRDD$.collectAndServe(PythonRDD.scala:166) at org.apache.spark.api.python.PythonRDD.collectAndServe(PythonRDD.scala) at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) at java.lang.reflect.Method.invoke(Method.java:498) at py4j.reflection.MethodInvoker.invoke(MethodInvoker.java:244) at py4j.reflection.ReflectionEngine.invoke(ReflectionEngine.java:357) at py4j.Gateway.invoke(Gateway.java:282) at py4j.commands.AbstractCommand.invokeMethod(AbstractCommand.java:132) at py4j.commands.CallCommand.execute(CallCommand.java:79) at py4j.GatewayConnection.run(GatewayConnection.java:238) at java.lang.Thread.run(Thread.java:748) >>>

[I 2025-07-14 08:43:19.216 LabApp] JupyterLab application directory is /usr/local/share/jupyter/lab [I 2025-07-14 08:43:19.216 LabApp] Extension Manager is 'pypi'. [I 2025-07-14 08:43:19.219 ServerApp] jupyterlab | extension was successfully loaded. [I 2025-07-14 08:43:19.222 ServerApp] notebook | extension was successfully loaded. [C 2025-07-14 08:43:19.224 ServerApp] Running as root is not recommended. Use --allow-root to bypass. 正在启动数据分析环境... 配置中文字体... 找到中文字体: /usr/share/fonts/truetype/wqy/wqy-zenhei.ttc 已清除缓存: fontlist-v330.json 中文字体配置完成! 启动Jupyter Lab... 访问地址: http://localhost:22001 Token: spacy2024 [I 2025-07-14 08:44:20.675 ServerApp] jupyter_lsp | extension was successfully linked. [I 2025-07-14 08:44:20.680 ServerApp] jupyter_server_terminals | extension was successfully linked. [W 2025-07-14 08:44:20.681 LabApp] 'ip' has moved from NotebookApp to ServerApp. This config will be passed to ServerApp. Be sure to update your config before our next release. [W 2025-07-14 08:44:20.681 LabApp] 'port' has moved from NotebookApp to ServerApp. This config will be passed to ServerApp. Be sure to update your config before our next release. [W 2025-07-14 08:44:20.681 LabApp] 'port' has moved from NotebookApp to ServerApp. This config will be passed to ServerApp. Be sure to update your config before our next release. [W 2025-07-14 08:44:20.681 LabApp] 'allow_root' has moved from NotebookApp to ServerApp. This config will be passed to ServerApp. Be sure to update your config before our next release. [W 2025-07-14 08:44:20.681 LabApp] 'token' has moved from NotebookApp to ServerApp. This config will be passed to ServerApp. Be sure to update your config before our next release. [W 2025-07-14 08:44:20.681 LabApp] 'password' has moved from NotebookApp to ServerApp. This config will be passed to ServerApp. Be sure to update your config before our next release. [W 2025-07-14 08:44:20.681 LabApp] 'allow_origin' has moved from NotebookApp to ServerApp. This config will be passed to ServerApp. Be sure to update your config before our next release. [W 2025-07-14 08:44:20.681 LabApp] 'allow_remote_access' has moved from NotebookApp to ServerApp. This config will be passed to ServerApp. Be sure to update your config before our next release. [W 2025-07-14 08:44:20.681 LabApp] 'notebook_dir' has moved from NotebookApp to ServerApp. This config will be passed to ServerApp. Be sure to update your config before our next release. [W 2025-07-14 08:44:20.681 LabApp] 'disable_check_xsrf' has moved from NotebookApp to ServerApp. This config will be passed to ServerApp. Be sure to update your config before our next release. [W 2025-07-14 08:44:20.681 LabApp] 'contents_manager_class' has moved from NotebookApp to ServerApp. This config will be passed to ServerApp. Be sure to update your config before our next release. [W 2025-07-14 08:44:20.685 ServerApp] jupyterlab | error linking extension: The 'contents_manager_class' trait of <jupyter_server.serverapp.ServerApp object at 0x7fae37602ac0> instance must be a type, but 'notebook.services.contents.largefilemanager.LargeFileManager' could not be imported Traceback (most recent call last): File "/usr/local/lib/python3.9/site-packages/traitlets/traitlets.py", line 2139, in validate value = self._resolve_string(value) File "/usr/local/lib/python3.9/site-packages/traitlets/traitlets.py", line 2015, in _resolve_string return import_item(string) File "/usr/local/lib/python3.9/site-packages/traitlets/utils/importstring.py", line 33, in import_item module = __import__(package, fromlist=[obj]) ModuleNotFoundError: No module named 'notebook.services' The above exception was the direct cause of the following exception: Traceback (most recent call last): File "/usr/local/lib/python3.9/site-packages/jupyter_server/extension/manager.py", line 381, in link_extension extension.link_all_points(self.serverapp) File "/usr/local/lib/python3.9/site-packages/jupyter_server/extension/manager.py", line 258, in link_all_points self.link_point(point_name, serverapp) File "/usr/local/lib/python3.9/site-packages/jupyter_server/extension/manager.py", line 243, in link_point point.link(serverapp) File "/usr/local/lib/python3.9/site-packages/jupyter_server/extension/manager.py", line 158, in link linker(serverapp) File "/usr/local/lib/python3.9/site-packages/jupyter_server/extension/application.py", line 412, in _link_jupyter_server_extension self.serverapp.update_config(self.config) File "/usr/local/lib/python3.9/site-packages/traitlets/config/configurable.py", line 244, in update_config self._load_config(config) File "/usr/local/lib/python3.9/site-packages/traitlets/config/configurable.py", line 193, in _load_config setattr(self, name, deepcopy(config_value)) File "/usr/local/lib/python3.9/site-packages/traitlets/traitlets.py", line 716, in __set__ self.set(obj, value) File "/usr/local/lib/python3.9/site-packages/traitlets/traitlets.py", line 690, in set new_value = self._validate(obj, value) File "/usr/local/lib/python3.9/site-packages/traitlets/traitlets.py", line 722, in _validate value = self.validate(obj, value) File "/usr/local/lib/python3.9/site-packages/traitlets/traitlets.py", line 2141, in validate raise TraitError( traitlets.traitlets.TraitError: The 'contents_manager_class' trait of <jupyter_server.serverapp.ServerApp object at 0x7fae37602ac0> instance must be a type, but 'notebook.services.contents.largefilemanager.LargeFileManager' could not be imported [I 2025-07-14 08:44:20.690 ServerApp] notebook | extension was successfully linked. [I 2025-07-14 08:44:20.872 ServerApp] notebook_shim | extension was successfully linked. [I 2025-07-14 08:44:20.888 ServerApp] notebook_shim | extension was successfully loaded. [I 2025-07-14 08:44:20.890 ServerApp] jupyter_lsp | extension was successfully loaded. [I 2025-07-14 08:44:20.891 ServerApp] jupyter_server_terminals | extension was successfully loaded. [I 2025-07-14 08:44:20.892 LabApp] JupyterLab extension loaded from /usr/local/lib/python3.9/site-packages/jupyterlab [I 2025-07-14 08:44:20.892 LabApp] JupyterLab application directory is /usr/local/share/jupyter/lab [I 2025-07-14 08:44:20.893 LabApp] Extension Manager is 'pypi'. [I 2025-07-14 08:44:20.896 ServerApp] jupyterlab | extension was successfully loaded. [I 2025-07-14 08:44:20.899 ServerApp] notebook | extension was successfully loaded. [C 2025-07-14 08:44:20.900 ServerApp] Running as root is not recommended. Use --allow-root to bypass. PS C:\Users\3090\Desktop\Docker\spacy-metabase-docker>

wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_11.launch.py [INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-07-31-22-36-21-063785-wjs-desktop-3401 [INFO] [launch]: Default logging verbosity is set to INFO URDF路径: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/urdf/fishbot_base.urdf 配置文件目录: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config [INFO] [sllidar_node-1]: process started with pid [3402] [INFO] [ahrs_driver_node-2]: process started with pid [3404] [INFO] [robot_state_publisher-3]: process started with pid [3406] [INFO] [cartographer_node-4]: process started with pid [3408] [INFO] [cartographer_occupancy_grid_node-5]: process started with pid [3410] [INFO] [test01-6]: process started with pid [3414] [sllidar_node-1] [INFO] [1753972581.986391243] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0 [robot_state_publisher-3] [WARN] [1753972581.996475307] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [cartographer_node-4] [INFO] [1753972582.011709333] [cartographer logger]: I0731 22:36:21.000000 3408 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua' for 'test02.lua'. [cartographer_node-4] [INFO] [1753972582.013333071] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972582.013688304] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972582.014082280] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972582.014301028] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972582.015024162] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972582.015279911] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972582.015654423] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-4] [INFO] [1753972582.015846540] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-4] [INFO] [1753972582.034546103] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-4] [INFO] [1753972582.038440599] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [sllidar_node-1] [INFO] [1753972582.070328993] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571 [sllidar_node-1] [INFO] [1753972582.070517165] [sllidar_node]: Firmware Ver: 1.01 [sllidar_node-1] [INFO] [1753972582.070583316] [sllidar_node]: Hardware Rev: 18 [sllidar_node-1] [INFO] [1753972582.123145614] [sllidar_node]: SLLidar health status : 0 [sllidar_node-1] [INFO] [1753972582.123298397] [sllidar_node]: SLLidar health status : OK. [robot_state_publisher-3] [INFO] [1753972582.128163423] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1753972582.128332151] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1753972582.128406172] [robot_state_publisher]: got segment laser_link [ahrs_driver_node-2] [INFO] [1753972582.202092222] [ahrs_bringup]: Serial Port initialized [ahrs_driver_node-2] [INFO] [1753972582.203306613] [ahrs_bringup]: ahrsBringup::processLoop: start [cartographer_node-4] [INFO] [1753972582.244303392] [cartographer logger]: I0731 22:36:22.000000 3408 map_builder_bridge.cpp:136] Added trajectory with ID '0'. [sllidar_node-1] [INFO] [1753972582.352471345] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz, [test01-6] [INFO] [1753972583.505330257] [tf_subscriber]: 串口初始化成功: /dev/esp [cartographer_node-4] [INFO] [1753972584.271857380] [cartographer logger]: I0731 22:36:24.000000 3408 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638895693842687326'. [cartographer_node-4] [INFO] [1753972584.273126717] [cartographer logger]: I0731 22:36:24.000000 3408 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing. [cartographer_node-4] [INFO] [1753972584.375924905] [cartographer logger]: I0731 22:36:24.000000 3408 pose_graph_2d.cc:148] Inserted submap (0, 0). [cartographer_node-4] [WARN] [1753972584.473750823] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 209 earlier points. [cartographer_node-4] [WARN] [1753972584.480935739] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 1994 earlier points. [cartographer_node-4] [WARN] [1753972584.595685181] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 2392 earlier points. [cartographer_node-4] [WARN] [1753972584.722220687] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 2428 earlier points. [cartographer_node-4] [WARN] [1753972584.869288389] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 2631 earlier points. [cartographer_node-4] [WARN] [1753972585.062024964] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 2666 earlier points. [cartographer_node-4] [WARN] [1753972585.299729464] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 2647 earlier points. [cartographer_node-4] [WARN] [1753972585.621127465] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 2785 earlier points. [cartographer_node-4] [WARN] [1753972585.652920412] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 537 earlier points. [cartographer_node-4] [WARN] [1753972585.662334584] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 332 earlier points. [cartographer_node-4] [WARN] [1753972585.691437481] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 10 earlier points. [cartographer_node-4] [WARN] [1753972585.742905096] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 595 earlier points. [cartographer_node-4] [WARN] [1753972585.795619066] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 501 earlier points. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-3] [INFO] [1753972586.729521375] [rclcpp]: signal_handler(signum=2) [cartographer_occupancy_grid_node-5] [INFO] [1753972586.729486818] [rclcpp]: signal_handler(signum=2) [ahrs_driver_node-2] [INFO] [1753972586.730259954] [rclcpp]: signal_handler(signum=2) [cartographer_node-4] [INFO] [1753972586.731881654] [rclcpp]: signal_handler(signum=2) [cartographer_node-4] [INFO] [1753972586.762551805] [cartographer logger]: I0731 22:36:26.000000 3408 node.cpp:569] Shutdown the subscriber of [scan] [cartographer_node-4] [INFO] [1753972586.765307783] [cartographer logger]: I0731 22:36:26.000000 3408 node.cpp:569] Shutdown the subscriber of [imu] [cartographer_node-4] [INFO] [1753972586.765400804] [cartographer logger]: I0731 22:36:26.000000 3408 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'... [cartographer_node-4] [WARN] [1753972586.766412615] [cartographer logger]: W0731 22:36:26.000000 3408 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now. [cartographer_node-4] [INFO] [1753972586.766522507] [cartographer logger]: I0731 22:36:26.000000 3408 node.cpp:551] Trajectory 0 already pending to finish. [cartographer_node-4] [INFO] [1753972586.766569212] [cartographer logger]: I0731 22:36:26.000000 3408 map_builder_bridge.cpp:161] Running final trajectory optimization... [cartographer_node-4] [INFO] [1753972586.766686623] [cartographer logger]: I0731 22:36:26.000000 3461 pose_graph_2d.cc:538] Remaining work items in queue: 0 [cartographer_node-4] [INFO] [1753972586.766820776] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972586.766862277] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [test01-6] [INFO] [1753972586.769791297] [tf_subscriber]: 用户中断,退出节点 [test01-6] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 [cartographer_node-4] [WARN] [1753972586.792771590] [cartographer logger]: W0731 22:36:26.000000 3461 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972586.808681453] [cartographer logger]: I0731 22:36:26.000000 3461 pose_graph_2d.cc:538] Remaining work items in queue: 1 [cartographer_node-4] [INFO] [1753972586.808851254] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972586.808900163] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [cartographer_node-4] [WARN] [1753972586.836843523] [cartographer logger]: W0731 22:36:26.000000 3461 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972586.844830224] [cartographer logger]: I0731 22:36:26.000000 3460 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972586.844950321] [cartographer logger]: I0731 22:36:26.000000 3460 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [INFO] [ahrs_driver_node-2]: process has finished cleanly [pid 3404] [cartographer_node-4] [INFO] [1753972587.040705270] [cartographer logger]: I0731 22:36:27.000000 3462 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972587.040867757] [cartographer logger]: I0731 22:36:27.000000 3462 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 3406] [INFO] [cartographer_occupancy_grid_node-5]: process has finished cleanly [pid 3410] [INFO] [cartographer_node-4]: process has finished cleanly [pid 3408] [INFO] [test01-6]: process has finished cleanly [pid 3414] [sllidar_node-1] [INFO] [1753972587.955950183] [sllidar_node]: Stop motor [INFO] [sllidar_node-1]: process has finished cleanly [pid 3402] wjs@wjs-desktop:~/Drone_Slam$ ^C wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_11.launch.py [INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-07-31-22-42-04-880679-wjs-desktop-3490 [INFO] [launch]: Default logging verbosity is set to INFO URDF路径: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/urdf/fishbot_base.urdf 配置文件目录: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config [INFO] [sllidar_node-1]: process started with pid [3491] [INFO] [ahrs_driver_node-2]: process started with pid [3493] [INFO] [robot_state_publisher-3]: process started with pid [3495] [INFO] [cartographer_node-4]: process started with pid [3497] [INFO] [cartographer_occupancy_grid_node-5]: process started with pid [3500] [INFO] [test01-6]: process started with pid [3518] [sllidar_node-1] [INFO] [1753972925.292018354] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0 [sllidar_node-1] [INFO] [1753972925.341420338] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571 [sllidar_node-1] [INFO] [1753972925.341625562] [sllidar_node]: Firmware Ver: 1.01 [sllidar_node-1] [INFO] [1753972925.341712796] [sllidar_node]: Hardware Rev: 18 [sllidar_node-1] [INFO] [1753972925.394365205] [sllidar_node]: SLLidar health status : 0 [sllidar_node-1] [INFO] [1753972925.394585558] [sllidar_node]: SLLidar health status : OK. [robot_state_publisher-3] [WARN] [1753972925.439404039] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-3] [INFO] [1753972925.462492726] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1753972925.462650546] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1753972925.462684655] [robot_state_publisher]: got segment laser_link [sllidar_node-1] [INFO] [1753972926.001498187] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz, [cartographer_node-4] [INFO] [1753972926.381159918] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua' for 'test02.lua'. [cartographer_node-4] [INFO] [1753972926.387582813] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972926.387886344] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972926.401111512] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972926.404937484] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972926.406829278] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972926.407115588] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972926.407520389] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-4] [INFO] [1753972926.407731965] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ahrs_driver_node-2] [INFO] [1753972926.413443343] [ahrs_bringup]: Serial Port initialized [ahrs_driver_node-2] [INFO] [1753972926.413877419] [ahrs_bringup]: ahrsBringup::processLoop: start [cartographer_node-4] [INFO] [1753972926.413688027] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-4] [INFO] [1753972926.414655616] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-4] [INFO] [1753972926.539480363] [cartographer logger]: I0731 22:42:06.000000 3497 map_builder_bridge.cpp:136] Added trajectory with ID '0'. [test01-6] [INFO] [1753972927.276279155] [tf_subscriber]: 串口初始化成功: /dev/esp [cartographer_node-4] [INFO] [1753972927.937685537] [cartographer logger]: I0731 22:42:07.000000 3497 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638895697279334551'. [cartographer_node-4] [INFO] [1753972927.938687865] [cartographer logger]: I0731 22:42:07.000000 3497 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing. [cartographer_node-4] [INFO] [1753972928.041921183] [cartographer logger]: I0731 22:42:08.000000 3497 pose_graph_2d.cc:148] Inserted submap (0, 0). [cartographer_node-4] [WARN] [1753972928.155580796] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2204 earlier points. [cartographer_node-4] [WARN] [1753972928.266892465] [cartographer logger]: W0731 22:42:08.000000 3497 sensor_bridge.cpp:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 638895697282633349 is not before current subdivision time 638895697282613324 [cartographer_node-4] [WARN] [1753972928.267554931] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 15 earlier points. [cartographer_node-4] [WARN] [1753972928.411221081] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2181 earlier points. [cartographer_node-4] [WARN] [1753972928.567551008] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 20 earlier points. [cartographer_node-4] [WARN] [1753972928.574751828] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2260 earlier points. [cartographer_node-4] [WARN] [1753972928.772710132] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2491 earlier points. [cartographer_node-4] [WARN] [1753972929.055279642] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 2639 earlier points. [cartographer_node-4] [WARN] [1753972929.308514082] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 915 earlier points. [cartographer_node-4] [WARN] [1753972929.357095244] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 365 earlier points. [cartographer_node-4] [WARN] [1753972929.410270693] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 757 earlier points. [cartographer_node-4] [WARN] [1753972929.468742243] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 532 earlier points. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-3] [INFO] [1753972931.302743250] [rclcpp]: signal_handler(signum=2) [cartographer_node-4] [INFO] [1753972931.303041208] [rclcpp]: signal_handler(signum=2) [cartographer_occupancy_grid_node-5] [INFO] [1753972931.303140164] [rclcpp]: signal_handler(signum=2) [ahrs_driver_node-2] [INFO] [1753972931.306472015] [rclcpp]: signal_handler(signum=2) [test01-6] [INFO] [1753972931.317018916] [tf_subscriber]: 用户中断,退出节点 [test01-6] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 [cartographer_node-4] [INFO] [1753972931.381496061] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:569] Shutdown the subscriber of [scan] [cartographer_node-4] [INFO] [1753972931.398093009] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:569] Shutdown the subscriber of [imu] [cartographer_node-4] [INFO] [1753972931.398192483] [cartographer logger]: I0731 22:42:11.000000 3497 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'... [cartographer_node-4] [WARN] [1753972931.399485994] [cartographer logger]: W0731 22:42:11.000000 3497 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now. [cartographer_node-4] [INFO] [1753972931.399604003] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:551] Trajectory 0 already pending to finish. [cartographer_node-4] [INFO] [1753972931.399660276] [cartographer logger]: I0731 22:42:11.000000 3497 map_builder_bridge.cpp:161] Running final trajectory optimization... [cartographer_node-4] [INFO] [1753972931.399828559] [cartographer logger]: I0731 22:42:11.000000 3553 pose_graph_2d.cc:538] Remaining work items in queue: 0 [cartographer_node-4] [INFO] [1753972931.399970030] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.400510321] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [cartographer_node-4] [WARN] [1753972931.402947335] [cartographer logger]: W0731 22:42:11.000000 3553 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972931.443748639] [cartographer logger]: I0731 22:42:11.000000 3553 pose_graph_2d.cc:538] Remaining work items in queue: 1 [cartographer_node-4] [INFO] [1753972931.444092112] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.446113307] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [cartographer_node-4] [WARN] [1753972931.448578615] [cartographer logger]: W0731 22:42:11.000000 3553 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972931.451659875] [cartographer logger]: I0731 22:42:11.000000 3550 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.451766940] [cartographer logger]: I0731 22:42:11.000000 3550 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [cartographer_node-4] [INFO] [1753972931.562351736] [cartographer logger]: I0731 22:42:11.000000 3552 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.562474041] [cartographer logger]: I0731 22:42:11.000000 3552 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 3495] [INFO] [cartographer_occupancy_grid_node-5]: process has finished cleanly [pid 3500] [sllidar_node-1] [INFO] [1753972931.631353251] [sllidar_node]: Stop motor [INFO] [ahrs_driver_node-2]: process has finished cleanly [pid 3493] [INFO] [cartographer_node-4]: process has finished cleanly [pid 3497] [INFO] [sllidar_node-1]: process has finished cleanly [pid 3491] [INFO] [test01-6]: process has finished cleanly [pid 3518] wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_11.launch.py

wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_6.launch.py [INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-08-01-00-35-21-205680-wjs-desktop-2879 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [sllidar_node-1]: process started with pid [2882] [INFO] [ahrs_driver_node-2]: process started with pid [2884] [INFO] [static_transform_publisher-3]: process started with pid [2886] [INFO] [robot_state_publisher-4]: process started with pid [2888] [INFO] [cartographer_node-5]: process started with pid [2890] [INFO] [cartographer_occupancy_grid_node-6]: process started with pid [2894] [INFO] [test01-7]: process started with pid [2902] [static_transform_publisher-3] [WARN] [1753979721.537040397] []: Old-style arguments are deprecated; see --help for new-style arguments [sllidar_node-1] [INFO] [1753979721.758057445] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0 [sllidar_node-1] [INFO] [1753979721.806444401] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571 [sllidar_node-1] [INFO] [1753979721.806628793] [sllidar_node]: Firmware Ver: 1.01 [sllidar_node-1] [INFO] [1753979721.806682875] [sllidar_node]: Hardware Rev: 18 [sllidar_node-1] [INFO] [1753979721.858743833] [sllidar_node]: SLLidar health status : 0 [sllidar_node-1] [INFO] [1753979721.858900064] [sllidar_node]: SLLidar health status : OK. [sllidar_node-1] [INFO] [1753979722.089228500] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz, [cartographer_node-5] [INFO] [1753979722.285159294] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/fishbot_2d.lua' for 'fishbot_2d.lua'. [cartographer_node-5] [INFO] [1753979722.316376894] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-5] [INFO] [1753979722.316734830] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-5] [INFO] [1753979722.317209060] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-5] [INFO] [1753979722.317477826] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-5] [INFO] [1753979722.318294347] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-5] [INFO] [1753979722.318567575] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-5] [INFO] [1753979722.335346971] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-5] [INFO] [1753979722.335619015] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-5] [INFO] [1753979722.336400726] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-5] [INFO] [1753979722.336697858] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [static_transform_publisher-3] [INFO] [1753979722.387448415] [imu_tf_publisher]: Spinning until stopped - publishing transform [static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-3] from 'base_link' to 'imu_link' [ahrs_driver_node-2] [INFO] [1753979722.599184780] [ahrs_bringup]: Serial Port initialized [ahrs_driver_node-2] [INFO] [1753979722.599712426] [ahrs_bringup]: ahrsBringup::processLoop: start [ahrs_driver_node-2] terminate called after throwing an instance of 'serial::SerialException' [ahrs_driver_node-2] what(): SerialException device reports readiness to read but returned no data (device disconnected?) failed. [robot_state_publisher-4] [INFO] [1753979722.692730637] [robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1753979722.693155486] [robot_state_publisher]: got segment imu_link [robot_state_publisher-4] [INFO] [1753979722.693285778] [robot_state_publisher]: got segment laser_link [cartographer_node-5] [INFO] [1753979722.875068815] [cartographer logger]: I0801 00:35:22.000000 2890 map_builder_bridge.cpp:136] Added trajectory with ID '0'. [ERROR] [ahrs_driver_node-2]: process has died [pid 2884, exit code -6, cmd '/home/wjs/Drone_Slam/install/fdilink_ahrs/lib/fdilink_ahrs/ahrs_driver_node --ros-args --params-file /tmp/launch_params_ccuxsgpz']. [cartographer_node-5] [INFO] [1753979723.981995571] [cartographer logger]: I0801 00:35:23.000000 2890 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638895765239747368'. [cartographer_node-5] [INFO] [1753979723.982265376] [cartographer logger]: I0801 00:35:23.000000 2890 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing. [cartographer_node-5] [INFO] [1753979724.080317557] [cartographer logger]: I0801 00:35:24.000000 2890 pose_graph_2d.cc:148] Inserted submap (0, 0). [cartographer_node-5] [WARN] [1753979724.286147835] [cartographer logger]: W0801 00:35:24.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [test01-7] Traceback (most recent call last): [test01-7] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialposix.py", line 322, in open [test01-7] self.fd = os.open(self.portstr, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK) [test01-7] FileNotFoundError: [Errno 2] No such file or directory: '/dev/esp' [test01-7] [test01-7] During handling of the above exception, another exception occurred: [test01-7] [test01-7] Traceback (most recent call last): [test01-7] File "/home/wjs/Drone_Slam/install/fishbot_grapher/lib/fishbot_grapher/test01", line 33, in <module> [test01-7] sys.exit(load_entry_point('fishbot-grapher==0.0.0', 'console_scripts', 'test01')()) [test01-7] File "/home/wjs/Drone_Slam/install/fishbot_grapher/lib/python3.10/site-packages/fishbot_grapher/test01.py", line 101, in main [test01-7] tf_subscriber = TFSubscriber() [test01-7] File "/home/wjs/Drone_Slam/install/fishbot_grapher/lib/python3.10/site-packages/fishbot_grapher/test01.py", line 20, in __init__ [test01-7] self.ser = serial.Serial("/dev/esp", 115200) [test01-7] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialutil.py", line 244, in __init__ [test01-7] self.open() [test01-7] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialposix.py", line 325, in open [test01-7] raise SerialException(msg.errno, "could not open port {}: {}".format(self._port, msg)) [test01-7] serial.serialutil.SerialException: [Errno 2] could not open port /dev/esp: [Errno 2] No such file or directory: '/dev/esp' [cartographer_node-5] [WARN] [1753979724.491526002] [cartographer logger]: W0801 00:35:24.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [WARN] [1753979724.709295995] [cartographer logger]: W0801 00:35:24.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [ERROR] [test01-7]: process has died [pid 2902, exit code 1, cmd '/home/wjs/Drone_Slam/install/fishbot_grapher/lib/fishbot_grapher/test01 --ros-args']. [cartographer_node-5] [WARN] [1753979724.926728636] [cartographer logger]: W0801 00:35:24.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [WARN] [1753979725.135525279] [cartographer logger]: W0801 00:35:25.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [WARN] [1753979725.355498538] [cartographer logger]: W0801 00:35:25.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [WARN] [1753979725.575934667] [cartographer logger]: W0801 00:35:25.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [WARN] [1753979725.791681973] [cartographer logger]: W0801 00:35:25.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [WARN] [1753979725.792889539] [cartographer logger]: W0801 00:35:25.000000 2890 range_data_collator.cc:82] Dropped 154 earlier points. [cartographer_node-5] [WARN] [1753979726.009195591] [cartographer logger]: W0801 00:35:26.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [WARN] [1753979726.010459952] [cartographer logger]: W0801 00:35:26.000000 2890 range_data_collator.cc:82] Dropped 532 earlier points. [cartographer_node-5] [WARN] [1753979726.220309676] [cartographer logger]: W0801 00:35:26.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [WARN] [1753979726.437783320] [cartographer logger]: W0801 00:35:26.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [WARN] [1753979726.439136426] [cartographer logger]: W0801 00:35:26.000000 2890 range_data_collator.cc:82] Dropped 542 earlier points. [cartographer_node-5] [WARN] [1753979726.649371795] [cartographer logger]: W0801 00:35:26.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [WARN] [1753979726.857038597] [cartographer logger]: W0801 00:35:26.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [WARN] [1753979727.064830761] [cartographer logger]: W0801 00:35:27.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-4] [INFO] [1753979727.252864090] [rclcpp]: signal_handler(signum=2) [static_transform_publisher-3] [INFO] [1753979727.252895586] [rclcpp]: signal_handler(signum=2) [cartographer_occupancy_grid_node-6] [INFO] [1753979727.252922415] [rclcpp]: signal_handler(signum=2) [cartographer_node-5] [INFO] [1753979727.254331207] [rclcpp]: signal_handler(signum=2) [cartographer_node-5] [WARN] [1753979727.278186754] [cartographer logger]: W0801 00:35:27.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist. [cartographer_node-5] [INFO] [1753979727.299298707] [cartographer logger]: I0801 00:35:27.000000 2890 node.cpp:569] Shutdown the subscriber of [scan] [cartographer_node-5] [INFO] [1753979727.299538745] [cartographer logger]: I0801 00:35:27.000000 2890 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'... [cartographer_node-5] [WARN] [1753979727.299999084] [cartographer logger]: W0801 00:35:27.000000 2890 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now. [cartographer_node-5] [INFO] [1753979727.300107494] [cartographer logger]: I0801 00:35:27.000000 2890 node.cpp:551] Trajectory 0 already pending to finish. [cartographer_node-5] [INFO] [1753979727.300154006] [cartographer logger]: I0801 00:35:27.000000 2890 map_builder_bridge.cpp:161] Running final trajectory optimization... [cartographer_node-5] [INFO] [1753979727.300265082] [cartographer logger]: I0801 00:35:27.000000 2953 pose_graph_2d.cc:538] Remaining work items in queue: 0 [cartographer_node-5] [INFO] [1753979727.300400284] [cartographer logger]: I0801 00:35:27.000000 2953 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-5] [INFO] [1753979727.300446870] [cartographer logger]: I0801 00:35:27.000000 2953 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-5] Count: 0 [cartographer_node-5] [WARN] [1753979727.308865144] [cartographer logger]: W0801 00:35:27.000000 2953 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-5] [INFO] [1753979727.321944840] [cartographer logger]: I0801 00:35:27.000000 2953 pose_graph_2d.cc:538] Remaining work items in queue: 1 [cartographer_node-5] [INFO] [1753979727.322111019] [cartographer logger]: I0801 00:35:27.000000 2953 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-5] [INFO] [1753979727.322155142] [cartographer logger]: I0801 00:35:27.000000 2953 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-5] Count: 0 [cartographer_node-5] [WARN] [1753979727.323773588] [cartographer logger]: W0801 00:35:27.000000 2953 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-5] [INFO] [1753979727.356344069] [cartographer logger]: I0801 00:35:27.000000 2954 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-5] [INFO] [1753979727.356515895] [cartographer logger]: I0801 00:35:27.000000 2954 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-5] Count: 0 Optimizing: Done. [cartographer_node-5] [INFO] [1753979727.441603445] [cartographer logger]: I0801 00:35:27.000000 2952 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-5] [INFO] [1753979727.441713595] [cartographer logger]: I0801 00:35:27.000000 2952 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-5] Count: 0 Optimizing: Done. [INFO] [static_transform_publisher-3]: process has finished cleanly [pid 2886] [INFO] [cartographer_occupancy_grid_node-6]: process has finished cleanly [pid 2894] [INFO] [robot_state_publisher-4]: process has finished cleanly [pid 2888] [INFO] [cartographer_node-5]: process has finished cleanly [pid 2890] [sllidar_node-1] [INFO] [1753979727.674903693] [sllidar_node]: Stop motor [INFO] [sllidar_node-1]: process has finished cleanly [pid 2882] wjs@wjs-desktop:~/Drone_Slam$

train datasets not valid: Descriptors cannot not be created directly. If this call came from a _pb2.py file, your generated code is out of date and must be regenerated with protoc >= 3.19.0. If you cannot immediately regenerate your protos, some other possible workarounds are: 1. Downgrade the protobuf package to 3.20.x or lower. 2. Set PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python (but this will use pure-Python parsing and will be much slower). More information: https://developers.google.com/protocol-buffers/docs/news/2022-05-06#python-updates 2023-04-20 18:34:06,539 - [ERROR]: failed: TrainFailReason.ERROR_PARAM, datasets not valid: Descriptors cannot not be created directly. If this call came from a _pb2.py file, your generated code is out of date and must be regenerated with protoc >= 3.19.0. If you cannot immediately regenerate your protos, some other possible workarounds are: 1. Downgrade the protobuf package to 3.20.x or lower. 2. Set PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python (but this will use pure-Python parsing and will be much slower). More information: https://developers.google.com/protocol-buffers/docs/news/2022-05-06#python-updates Exception ignored in: <function Detector.__del__ at 0x7fa39ff51550> Traceback (most recent call last): File "/home/zzh/Desktop/maix_train/train/detector/__init__.py", line 117, in __del__ if self.need_rm_datasets: AttributeError: 'Detector' object has no attribute 'need_rm_datasets'

wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_3.launch.py [INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-07-27-21-56-35-948343-wjs-desktop-3929 [INFO] [launch]: Default logging verbosity is set to INFO pkg_share =/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher<== model_path =/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/urdf/fishbot_base.urdf<== [INFO] [sllidar_node-1]: process started with pid [3930] [INFO] [wit_ros2_imu-2]: process started with pid [3932] [INFO] [test01-3]: process started with pid [3934] [INFO] [robot_state_publisher-4]: process started with pid [3936] [INFO] [cartographer_node-5]: process started with pid [3939] [INFO] [cartographer_occupancy_grid_node-6]: process started with pid [3948] [sllidar_node-1] [INFO] [1753624596.293528113] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0 [sllidar_node-1] [INFO] [1753624596.346378641] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571 [sllidar_node-1] [INFO] [1753624596.346608009] [sllidar_node]: Firmware Ver: 1.01 [sllidar_node-1] [INFO] [1753624596.346674323] [sllidar_node]: Hardware Rev: 18 [sllidar_node-1] [INFO] [1753624596.399133596] [sllidar_node]: SLLidar health status : 0 [sllidar_node-1] [INFO] [1753624596.399320242] [sllidar_node]: SLLidar health status : OK. [robot_state_publisher-4] [WARN] [1753624596.504253936] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-4] [INFO] [1753624596.556528415] [robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1753624596.560108244] [robot_state_publisher]: got segment imu_link [robot_state_publisher-4] [INFO] [1753624596.564348027] [robot_state_publisher]: got segment laser_link [sllidar_node-1] [INFO] [1753624596.609412665] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz, [cartographer_node-5] [INFO] [1753624596.693458234] [cartographer logger]: I0727 21:56:36.000000 3939 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua' for 'test02.lua'. [cartographer_node-5] [INFO] [1753624596.697710332] [cartographer logger]: I0727 21:56:36.000000 3939 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-5] [INFO] [1753624596.698250159] [cartographer logger]: I0727 21:56:36.000000 3939 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-5] [INFO] [1753624596.698714117] [cartographer logger]: I0727 21:56:36.000000 3939 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-5] [INFO] [1753624596.698993447] [cartographer logger]: I0727 21:56:36.000000 3939 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-5] [INFO] [1753624596.699914917] [cartographer logger]: I0727 21:56:36.000000 3939 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-5] [INFO] [1753624596.700183470] [cartographer logger]: I0727 21:56:36.000000 3939 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-5] [INFO] [1753624596.700551632] [cartographer logger]: I0727 21:56:36.000000 3939 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-5] [INFO] [1753624596.700780704] [cartographer logger]: I0727 21:56:36.000000 3939 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-5] [INFO] [1753624596.702823920] [cartographer logger]: I0727 21:56:36.000000 3939 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-5] [INFO] [1753624596.703229045] [cartographer logger]: I0727 21:56:36.000000 3939 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-5] [INFO] [1753624596.795457981] [cartographer logger]: I0727 21:56:36.000000 3939 map_builder_bridge.cpp:136] Added trajectory with ID '0'. [test01-3] Traceback (most recent call last): [test01-3] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialposix.py", line 322, in open [test01-3] self.fd = os.open(self.portstr, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK) [test01-3] FileNotFoundError: [Errno 2] No such file or directory: '/dev/mcu_usb' [test01-3] [test01-3] During handling of the above exception, another exception occurred: [test01-3] [test01-3] Traceback (most recent call last): [test01-3] File "/home/wjs/Drone_Slam/install/fishbot_grapher/lib/fishbot_grapher/test01", line 33, in <module> [test01-3] sys.exit(load_entry_point('fishbot-grapher==0.0.0', 'console_scripts', 'test01')()) [test01-3] File "/home/wjs/Drone_Slam/build/fishbot_grapher/fishbot_grapher/test01.py", line 101, in main [test01-3] tf_subscriber = TFSubscriber() [test01-3] File "/home/wjs/Drone_Slam/build/fishbot_grapher/fishbot_grapher/test01.py", line 20, in __init__ [test01-3] self.ser = serial.Serial("/dev/mcu_usb", 115200) [test01-3] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialutil.py", line 244, in __init__ [test01-3] self.open() [test01-3] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialposix.py", line 325, in open [test01-3] raise SerialException(msg.errno, "could not open port {}: {}".format(self._port, msg)) [test01-3] serial.serialutil.SerialException: [Errno 2] could not open port /dev/mcu_usb: [Errno 2] No such file or directory: '/dev/mcu_usb' [wit_ros2_imu-2] [INFO] [1753624598.299331361] [imu]: Serial port opening failure [ERROR] [test01-3]: process has died [pid 3934, exit code 1, cmd '/home/wjs/Drone_Slam/install/fishbot_grapher/lib/fishbot_grapher/test01 --ros-args']. [cartographer_node-5] [WARN] [1753624648.641827081] [cartographer logger]: W0727 21:57:28.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624654.635726454] [cartographer logger]: W0727 21:57:34.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624660.629588408] [cartographer logger]: W0727 21:57:40.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624666.627564294] [cartographer logger]: W0727 21:57:46.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624672.621407737] [cartographer logger]: W0727 21:57:52.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624678.616157481] [cartographer logger]: W0727 21:57:58.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624684.610428611] [cartographer logger]: W0727 21:58:04.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624690.608856760] [cartographer logger]: W0727 21:58:10.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624696.602858211] [cartographer logger]: W0727 21:58:16.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624702.599072114] [cartographer logger]: W0727 21:58:22.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624708.592340657] [cartographer logger]: W0727 21:58:28.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624714.584529110] [cartographer logger]: W0727 21:58:34.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624720.581427753] [cartographer logger]: W0727 21:58:40.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624726.578385249] [cartographer logger]: W0727 21:58:46.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624732.572873480] [cartographer logger]: W0727 21:58:52.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624738.568913018] [cartographer logger]: W0727 21:58:58.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624744.561819898] [cartographer logger]: W0727 21:59:04.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624750.555073975] [cartographer logger]: W0727 21:59:10.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624756.554933435] [cartographer logger]: W0727 21:59:16.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624762.546546834] [cartographer logger]: W0727 21:59:22.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624768.545720326] [cartographer logger]: W0727 21:59:28.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624774.543064210] [cartographer logger]: W0727 21:59:34.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624780.533394685] [cartographer logger]: W0727 21:59:40.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624786.526536222] [cartographer logger]: W0727 21:59:46.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624792.522221596] [cartographer logger]: W0727 21:59:52.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624798.516858783] [cartographer logger]: W0727 21:59:58.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu) [cartographer_node-5] [WARN] [1753624804.510442036] [cartographer logger]: W0727 22:00:04.000000 3939 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu)

inelx@ubuntu:~/Desktop$ sudo apt update sudo apt upgrade -y Hit:1 http://security.ubuntu.com/ubuntu focal-security InRelease Hit:2 http://security.ubuntu.com/ubuntu jammy-security InRelease Hit:3 http://us.archive.ubuntu.com/ubuntu focal InRelease Hit:4 http://us.archive.ubuntu.com/ubuntu focal-updates InRelease Hit:5 https://cloud.r-project.org/bin/linux/ubuntu focal-cran40/ InRelease Hit:6 http://us.archive.ubuntu.com/ubuntu focal-backports InRelease Reading package lists... Done Building dependency tree Reading state information... Done 169 packages can be upgraded. Run 'apt list --upgradable' to see them. Reading package lists... Done Building dependency tree Reading state information... Done Calculating upgrade... Done The following packages were automatically installed and are no longer required: icu-devtools lib32gcc-s1 lib32stdc++6 libblas-dev libc-dev-bin libc6-i386 libclang-common-10-dev libclang1-10 libcrypt-dev libdeflate-dev libfakeroot libgc1c2 libgfortran-9-dev liblapack-dev libllvm10 liblzma-dev libobjc-9-dev libobjc4 libpcre16-3 libpcre2-16-0 libpcre2-posix2 libpcre32-3 libpcrecpp0v5 libpng-tools libtirpc-dev libzstd-dev linux-hwe-5.15-headers-5.15.0-139 linux-libc-dev Use 'sudo apt autoremove' to remove them. The following security updates require Ubuntu Pro with 'esm-infra' enabled: linux-headers-generic-hwe-20.04 xserver-xorg-core libpython3.8-minimal libsystemd0 libgs9 sudo libpython3.8 python3.8 libblockdev-crypto2 udev linux-image-generic-hwe-20.04 libudev1 systemd-timesyncd linux-generic-hwe-20.04 xserver-xephyr udisks2 python3.8-minimal systemd-sysv libpam-systemd xwayland ghostscript systemd libblockdev-utils2 ghostscript-x libnss-systemd libgs9-common libpython3.8-stdlib libxslt1.1 Learn more about Ubuntu Pro at https://ubuntu.com/pro The following packages have been kept back: bsdutils cups cups-bsd cups-client cups-core-drivers cups-daemon cups-ipp-utils dbus-user-session dbus-x11 distro-info distro-info-data ghostscript-x gir1.2-gdkpixbuf-2.0 gir1.2-gstreamer-1.0 gir1.2-gtk-3.0 gnome-control-center-data gnome-shell-common gnupg gnupg-l10n gstreamer1.0-alsa gstreamer1.0-plugins-base gstreamer1.0-plugins-base-apps gstreamer1.0-plugins-good gstreamer1.0-pulseaudio gstreamer1.0-x gtk-update-icon-cache gtk2-engines-pixbuf hplip-data libblockdev-utils2 libcups2 libcupsimage2 libcurl4 libdbus-1-3 libdpkg-perl libebackend-1.2-10 libebook-1.2-20 libecal-2.0-1 libedata-cal-2.0-1 libgail-common libgail18 libgdk-pixbuf2.0-0 libgdk-pixbuf2.0-bin libgdk-pixbuf2.0-common libglib2.0-bin libgstreamer-plugins-base1.0-0 libgstreamer-plugins-good1.0-0 libgstreamer1.0-0 libgtk2.0-0 libgtk2.0-bin libhpmud0 libldb2 libnautilus-extension1a libnetplan0 libnss-systemd libpam-systemd libperl5.30 libpoppler-glib8 libpoppler97 libpython3-stdlib librsvg2-common libsane-hpaio libudev1 libvte-2.91-common libyelp0 linux-firmware linux-generic-hwe-20.04 linux-headers-generic-hwe-20.04 linux-image-generic-hwe-20.04 nautilus-data netplan.io perl perl-base printer-driver-hpcups python3 python3-gdbm python3-ldb python3-minimal python3-pil python3-protobuf python3-renderpm python3-reportlab python3-reportlab-accel systemd-sysv systemd-timesyncd udisks2 vim-common 0 upgraded, 0 newly installed, 0 to remove and 86 not upgraded.

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