url: '/pages_docking/fabuRegistrationFee?priseList=' + JSON.stringify(this.priseList)

在这里，你将 `priseList` 对象转换为 JSON 字符串，并将其作为查询参数传递给 `fabuRegistrationFee` 页面。在接收方页面中，你可以使用 `$route.query` 访问查询参数，如下所示： ```javascript // 在接收方页面中访问查询参数 mounted() { const priseList = JSON.parse(this.$route.query.priseList) console.log(priseList) } ``` 在上面的代码中，我们使用 `JSON.parse` 函数将传递的 JSON 字符串转换回原始 JavaScript 对象，并将其存储在 `priseList` 变量中。需要注意的是，如果 `priseList` 对象包含特殊字符，例如空格或 `&`，那么你需要使用 `encodeURIComponent` 函数对查询字符串进行编码，以确保它们正确传递，如下所示： ```javascript // 对查询字符串进行编码 const queryString = '/pages_docking/fabuRegistrationFee?priseList=' + encodeURIComponent(JSON.stringify(this.priseList)) ``` 在上面的代码中，我们使用 `encodeURIComponent` 函数对 JSON 字符串进行编码，以确保查询字符串中的特殊字符被正确处理。

ros2中晃动imu，但是我的机器人模型不跟着晃动，而且里程计一开，里程计跑走，但是imu和机器人模型还在原地，以下是我的各个文件代码，情分析一下为什么：wheeltec_robot.cpp文件代码为： #include "turn_on_wheeltec_robot/wheeltec_robot.h" #include "turn_on_wheeltec_robot/Quaternion_Solution.h" #include "wheeltec_robot_msg/msg/data.hpp" sensor_msgs::msg::Imu Mpu6050;//Instantiate an IMU object //实例化IMU对象 using std::placeholders::_1; using namespace std; rclcpp::Node::SharedPtr node_handle = nullptr; //自动回充使用相关变量 bool check_AutoCharge_data = false; bool charge_set_state = false; /****************** Date: January 28, 2021 Function: The main function, ROS initialization, creates the Robot_control object through the Turn_on_robot class and automatically calls the constructor initialization 功能: 主函数，ROS初始化，通过turn_on_robot类创建Robot_control对象并自动调用构造函数初始化 */ int main(int argc, char argv) { rclcpp::init(argc, argv); //ROS initializes and sets the node name //ROS初始化并设置节点名称 turn_on_robot Robot_Control;//Instantiate an object //实例化一个对象 Robot_Control.Control();//Loop through data collection and publish the topic //循环执行数据采集和发布话题等操作 return 0; } / Date: January 28, 2021 Function: Data conversion function 功能: 数据转换函数 *****************/ short turn_on_robot::IMU_Trans(uint8_t Data_High,uint8_t Data_Low) { short transition_16; transition_16 = 0; transition_16 |= Data_High<<8; transition_16 |= Data_Low; return transition_16; } float turn_on_robot::Odom_Trans(uint8_t Data_High,uint8_t Data_Low) { float data_return; short transition_16; transition_16 = 0; transition_16 |= Data_High<<8; //Get the high 8 bits of data //获取数据的高8位 transition_16 |= Data_Low; //Get the lowest 8 bits of data //获取数据的低8位 data_return = (transition_16 / 1000)+(transition_16 % 1000)0.001; // The speed unit is changed from mm/s to m/s //速度单位从mm/s转换为m/s return data_return; } / Date: January 28, 2021 Function: The speed topic subscription Callback function, according to the subscribed instructions through the serial port command control of the lower computer 功能: 速度话题订阅回调函数Callback，根据订阅的指令通过串口发指令控制下位机 / void turn_on_robot::Cmd_Vel_Callback(const geometry_msgs::msg::Twist::SharedPtr twist_aux) { short transition; //intermediate variable //中间变量 Send_Data.tx[0]= 0x06; //frame head 0x7B //帧头0X7B //Send_Data.tx[1] = AutoRecharge; //set aside //预留位 Send_Data.tx[1] = FRAME_HEADER; Send_Data.tx[2] = 0; //set aside //预留位 //The target velocity of the X-axis of the robot //机器人x轴的目标线速度 transition=0; transition = twist_aux->linear.x1000; //将浮点数放大一千倍，简化传输 (mm/s) Send_Data.tx[4] = transition; //取数据的低8位 Send_Data.tx[3] = transition>>8; //取数据的高8位 //The target velocity of the Y-axis of the robot //机器人y轴的目标线速度 transition=0; transition = twist_aux->linear.y1000; Send_Data.tx[6] = transition; Send_Data.tx[5] = transition>>8; //The target angular velocity of the robot's Z axis //机器人z轴的目标角速度 transition=0; transition = twist_aux->angular.z1000; //(1000rad/s) Send_Data.tx[8] = transition; Send_Data.tx[7] = transition>>8; Send_Data.tx[9]=Check_Sum(9,SEND_DATA_CHECK); //For the BCC check bits, see the Check_Sum function //BCC校验位，规则参见Check_Sum函数 Send_Data.tx[10]=0x0d; //frame tail 0x7D //帧尾0X7D Send_Data.tx[11]=0x0a; try { Stm32_Serial.write(Send_Data.tx,sizeof (Send_Data.tx)); //Sends data to the downloader via serial port //通过串口向下位机发送数据 } catch (serial::IOException& e) { RCLCPP_ERROR(this->get_logger(),("Unable to send data through serial port")); //If sending data fails, an error message is printed //如果发送数据失败，打印错误信息 } } /****************** Date: January 28, 2021 Function: Publish the IMU data topic 功能: 发布IMU数据话题 / void turn_on_robot::Publish_ImuSensor() { sensor_msgs::msg::Imu Imu_Data_Pub; //Instantiate IMU topic data //实例化IMU话题数据 Imu_Data_Pub.header.stamp = rclcpp::Node::now(); Imu_Data_Pub.header.frame_id = gyro_frame_id; //IMU corresponds to TF coordinates, which is required to use the robot_pose_ekf feature pack //IMU对应TF坐标，使用robot_pose_ekf功能包需要设置此项 Imu_Data_Pub.orientation.x = Mpu6050.orientation.x; //A quaternion represents a three-axis attitude //四元数表达三轴姿态 Imu_Data_Pub.orientation.y = Mpu6050.orientation.y; Imu_Data_Pub.orientation.z = Mpu6050.orientation.z; Imu_Data_Pub.orientation.w = Mpu6050.orientation.w; Imu_Data_Pub.orientation_covariance[0] = 1e6; //Three-axis attitude covariance matrix //三轴姿态协方差矩阵 Imu_Data_Pub.orientation_covariance[4] = 1e6; Imu_Data_Pub.orientation_covariance[8] = 1e-6; Imu_Data_Pub.angular_velocity.x = Mpu6050.angular_velocity.x; //Triaxial angular velocity //三轴角速度 Imu_Data_Pub.angular_velocity.y = Mpu6050.angular_velocity.y; Imu_Data_Pub.angular_velocity.z = Mpu6050.angular_velocity.z; Imu_Data_Pub.angular_velocity_covariance[0] = 1e6; //Triaxial angular velocity covariance matrix //三轴角速度协方差矩阵 Imu_Data_Pub.angular_velocity_covariance[4] = 1e6; Imu_Data_Pub.angular_velocity_covariance[8] = 1e-6; Imu_Data_Pub.linear_acceleration.x = Mpu6050.linear_acceleration.x; //Triaxial acceleration //三轴线性加速度 Imu_Data_Pub.linear_acceleration.y = Mpu6050.linear_acceleration.y; Imu_Data_Pub.linear_acceleration.z = Mpu6050.linear_acceleration.z; imu_publisher->publish(Imu_Data_Pub); //Pub IMU topic //发布IMU话题 } / Date: January 28, 2021 Function: Publish the odometer topic, Contains position, attitude, triaxial velocity, angular velocity about triaxial, TF parent-child coordinates, and covariance matrix 功能: 发布里程计话题，包含位置、姿态、三轴速度、绕三轴角速度、TF父子坐标、协方差矩阵 / void turn_on_robot::Publish_Odom() { //Convert the Z-axis rotation Angle into a quaternion for expression //把Z轴转角转换为四元数进行表达 tf2::Quaternion q; q.setRPY(0,0,Mpu6050_Data.imu_yaw); geometry_msgs::msg::Quaternion odom_quat=tf2::toMsg(q); nav_msgs::msg::Odometry odom; //Instance the odometer topic data //实例化里程计话题数据 odom.header.stamp = rclcpp::Node::now(); ; odom.header.frame_id = odom_frame_id; // Odometer TF parent coordinates //里程计TF父坐标 odom.pose.pose.position.x = Robot_Pos.X; //Position //位置 odom.pose.pose.position.y = Robot_Pos.Y; //odom.pose.pose.position.z = Robot_Pos.Z; odom.pose.pose.orientation = odom_quat; //Posture, Quaternion converted by Z-axis rotation //姿态，通过Z轴转角转换的四元数 odom.child_frame_id = robot_frame_id; // Odometer TF subcoordinates //里程计TF子坐标 odom.twist.twist.linear.x = Robot_Vel.X; //Speed in the X direction //X方向速度 //odom.twist.twist.linear.y = Robot_Vel.Y; //Speed in the Y direction //Y方向速度 odom.twist.twist.angular.z = Mpu6050.angular_velocity.z; //Angular velocity around the Z axis //绕Z轴角速度 //There are two types of this matrix, which are used when the robot is at rest and when it is moving.Extended Kalman Filtering officially provides 2 matrices for the robot_pose_ekf feature pack //这个矩阵有两种，分别在机器人静止和运动的时候使用。扩展卡尔曼滤波官方提供的2个矩阵，用于robot_pose_ekf功能包 //if(Robot_Vel.X== 0&&Robot_Vel.Y== 0&&Robot_Vel.Z== 0) if(Robot_Vel.X== 0) //If the velocity is zero, it means that the error of the encoder will be relatively small, and the data of the encoder will be considered more reliable //如果velocity是零，说明编码器的误差会比较小，认为编码器数据更可靠 memcpy(&odom.pose.covariance, odom_pose_covariance2, sizeof(odom_pose_covariance2)), memcpy(&odom.twist.covariance, odom_twist_covariance2, sizeof(odom_twist_covariance2)); else //If the velocity of the trolley is non-zero, considering the sliding error that may be brought by the encoder in motion, the data of IMU is considered to be more reliable //如果小车velocity非零，考虑到运动中编码器可能带来的滑动误差，认为imu的数据更可靠 memcpy(&odom.pose.covariance, odom_pose_covariance, sizeof(odom_pose_covariance)), memcpy(&odom.twist.covariance, odom_twist_covariance, sizeof(odom_twist_covariance)); odom_publisher->publish(odom); //Pub odometer topic //发布里程计话题 } / Date: January 28, 2021 Function: Publish voltage-related information 功能: 发布电压相关信息 / void turn_on_robot::Publish_Voltage() { std_msgs::msg::Float32 voltage_msgs; //Define the data type of the power supply voltage publishing topic //定义电源电压发布话题的数据类型 static float Count_Voltage_Pub=0; if(Count_Voltage_Pub++>10) { Count_Voltage_Pub=0; voltage_msgs.data = Power_voltage; //The power supply voltage is obtained //电源供电的电压获取 voltage_publisher->publish(voltage_msgs); //Post the power supply voltage topic unit: V, volt //发布电源电压话题单位：V、伏特 } } ////////// 回充发布与回调 //////// / Date: January 17, 2022 Function: Pub the topic whether the robot finds the infrared signal (charging station) 功能: 发布机器人是否寻找到红外信号(充电桩)的话题 / void turn_on_robot::Publish_RED() { std_msgs::msg::UInt8 msg; msg.data=Red; RED_publisher->publish(msg); } / Date: January 14, 2022 Function: Publish a topic about whether the robot is charging 功能: 发布机器人是否在充电的话题 / void turn_on_robot::Publish_Charging() { static bool last_charging; std_msgs::msg::Bool msg; msg.data=Charging; Charging_publisher->publish(msg); if(last_charging==false && Charging==true)cout<<GREEN<<"Robot is charging."<<endl<<RESET; if(last_charging==true && Charging==false)cout<<RED <<"Robot charging has disconnected."<<endl<<RESET; last_charging=Charging; } / Date: January 28, 2021 Function: Publish charging current information 功能: 发布充电电流信息 / void turn_on_robot::Publish_ChargingCurrent() { std_msgs::msg::Float32 msg; msg.data=Charging_Current; Charging_current_publisher->publish(msg); } / Date: March 1, 2022 Function: Infrared connection speed topic subscription Callback function, according to the subscription command through the serial port to set the infrared connection speed 功能: 红外对接速度话题订阅回调函数Callback，根据订阅的指令通过串口发指令设置红外对接速度 *******************/ void turn_on_robot::Red_Vel_Callback(const geometry_msgs::msg::Twist::SharedPtr twist_aux) { short transition; //intermediate variable //中间变量 Send_Data.tx[0]=FRAME_HEADER; //frame head 0x7B //帧头0X7B Send_Data.tx[1] = 3; //Infrared docking speed setting flag bit = 3 //红外对接速度设置标志位=3 Send_Data.tx[2] = 0; //set aside //预留位 //The target velocity of the X-axis of the robot //机器人x轴的目标线速度 transition=0; transition = twist_aux->linear.x1000; //将浮点数放大一千倍，简化传输 Send_Data.tx[4] = transition; //取数据的低8位 Send_Data.tx[3] = transition>>8; //取数据的高8位 //The target velocity of the Y-axis of the robot //机器人y轴的目标线速度 transition=0; transition = twist_aux->linear.y1000; Send_Data.tx[6] = transition; Send_Data.tx[5] = transition>>8; //The target angular velocity of the robot's Z axis //机器人z轴的目标角速度 transition=0; transition = twist_aux->angular.z*1000; Send_Data.tx[8] = transition; Send_Data.tx[7] = transition>>8; Send_Data.tx[9]=Check_Sum(9,SEND_DATA_CHECK); //BCC check //BCC校验 Send_Data.tx[10]=FRAME_TAIL; //frame tail 0x7D //帧尾0X7D try { Stm32_Serial.write(Send_Data.tx,sizeof (Send_Data.tx)); //Sends data to the downloader via serial port //通过串口向下位机发送数据 } catch (serial::IOException& e) { RCLCPP_ERROR(this->get_logger(),("Unable to send data through serial port")); //If sending data fails, an error message is printed //如果发送数据失败，打印错误信息 } } /****************** Date: January 14, 2022 Function: Subscription robot recharge flag bit topic, used to tell the lower machine speed command is normal command or recharge command 功能: 订阅机器人是否回充标志位话题，用于告诉下位机速度命令是正常命令还是回充命令 / void turn_on_robot::Recharge_Flag_Callback(const std_msgs::msg::Int8::SharedPtr Recharge_Flag) { AutoRecharge=Recharge_Flag->data; } //服务 void turn_on_robot::Set_Charge_Callback(const shared_ptr<turtlesim::srv::Spawn::Request> req,shared_ptr<turtlesim::srv::Spawn::Response> res) { Send_Data.tx[0]=FRAME_HEADER; //frame head 0x7B //֡ͷ0X7B if(round(req->x)==1) Send_Data.tx[1] = 1; else if(round(req->x)==2) Send_Data.tx[1] = 2; else if(round(req->x)==0) Send_Data.tx[1] = 0,AutoRecharge=0; Send_Data.tx[2] = 0; Send_Data.tx[3] = 0; Send_Data.tx[4] = 0; Send_Data.tx[5] = 0; Send_Data.tx[6] = 0; Send_Data.tx[7] = 0; Send_Data.tx[8] = 0; Send_Data.tx[9]=Check_Sum(9,SEND_DATA_CHECK); //For the BCC check bits, see the Check_Sum function //BCCУ��λ��μ�Check_Sum�� Send_Data.tx[10]=FRAME_TAIL; //frame tail 0x7D //֡β0X7D try { Stm32_Serial.write(Send_Data.tx,sizeof (Send_Data.tx)); //Sends data to the downloader via serial port //ͨ��λ�� } catch (serial::IOException& e) { res->name = "false"; } if( Send_Data.tx[1]==0 ) { if(charge_set_state==0) AutoRecharge=0,res->name = "true"; else res->name = "false"; } else { if(charge_set_state==1) res->name = "true"; else res->name = "false"; } return; } ////////// 回充发布与回调 //////// / Date: January 28, 2021 Function: Serial port communication check function, packet n has a byte, the NTH -1 byte is the check bit, the NTH byte bit frame end.Bit XOR results from byte 1 to byte n-2 are compared with byte n-1, which is a BCC check Input parameter: Count_Number: Check the first few bytes of the packet 功能: 串口通讯校验函数，数据包n有个字节，第n-1个字节为校验位，第n个字节位帧尾。第1个字节到第n-2个字节数据按位异或的结果与第n-1个字节对比，即为BCC校验输入参数： Count_Number：数据包前几个字节加入校验 mode：对发送数据还是接收数据进行校验 / unsigned char turn_on_robot::Check_Sum(unsigned char Count_Number,unsigned char mode) { unsigned char check_sum=0,k; if(mode==0) //Receive data mode //接收数据模式 { for(k=0;k<Count_Number;k++) { check_sum=check_sum^Receive_Data.rx[k]; //By bit or by bit //按位异或 } } if(mode==1) //Send data mode //发送数据模式 { for(k=1;k<Count_Number;k++) { check_sum=check_sum^Send_Data.tx[k]; //By bit or by bit //按位异或 } } return check_sum; //Returns the bitwise XOR result //返回按位异或结果 } //自动回充专用校验位 unsigned char turn_on_robot::Check_Sum_AutoCharge(unsigned char Count_Number,unsigned char mode) { unsigned char check_sum=0,k; if(mode==0) //Receive data mode //接收数据模式 { for(k=0;k<Count_Number;k++) { check_sum=check_sum^Receive_AutoCharge_Data.rx[k]; //By bit or by bit //按位异或 } } return check_sum; } / Date: November 18, 2021 Function: Read and verify the data sent by the lower computer frame by frame through the serial port, and then convert the data into international units 功能: 通过串口读取并逐帧校验下位机发送过来的数据，然后数据转换为国际单位 *******************/ bool turn_on_robot::Get_Sensor_Data_New() { short transition_16=0; //Intermediate variable //中间变量 //uint8_t i=0; uint8_t check=0,check2=0, error=1,error2=1,Receive_Data_Pr[1]; //Temporary variable to save the data of the lower machine //临时变量，保存下位机数据 static int count,count2; //Static variable for counting //静态变量，用于计数 Stm32_Serial.read(Receive_Data_Pr,sizeof(Receive_Data_Pr)); //Read the data sent by the lower computer through the serial port //通过串口读取下位机发送过来的数据 ///View the received raw data directly and debug it for use//直接查看接收到的原始数据，调试使用 ROS_INFO("%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x", Receive_Data_Pr[0],Receive_Data_Pr[1],Receive_Data_Pr[2],Receive_Data_Pr[3],Receive_Data_Pr[4],Receive_Data_Pr[5],Receive_Data_Pr[6],Receive_Data_Pr[7], Receive_Data_Pr[8],Receive_Data_Pr[9],Receive_Data_Pr[10],Receive_Data_Pr[11],Receive_Data_Pr[12],Receive_Data_Pr[13],Receive_Data_Pr[14],Receive_Data_Pr[15], Receive_Data_Pr[16],Receive_Data_Pr[17],Receive_Data_Pr[18],Receive_Data_Pr[19],Receive_Data_Pr[20],Receive_Data_Pr[21],Receive_Data_Pr[22],Receive_Data_Pr[23]); / Receive_Data.rx[count] = Receive_Data_Pr[0]; //Fill the array with serial data //串口数据填入数组 Receive_AutoCharge_Data.rx[count2] = Receive_Data_Pr[0]; Receive_Data.Frame_Header = Receive_Data.rx[0]; //The first part of the data is the frame header 0X7B //数据的第一位是帧头0X7B Receive_Data.Frame_Tail = Receive_Data.rx[23]; //The last bit of data is frame tail 0X7D //数据的最后一位是帧尾0X7D //接收到自动回充数据的帧头、上一个数据是24字节的帧尾，表明自动回充数据开始到来 if((Receive_Data_Pr[0] == AutoCharge_HEADER )||count2>0) count2++; else count2=0; if(Receive_Data_Pr[0] == FRAME_HEADER || count>0) //Ensure that the first data in the array is FRAME_HEADER //确保数组第一个数据为FRAME_HEADER count++; else count=0; //自动回充数据处理 if(count2 == AutoCharge_DATA_SIZE) { count2=0; if(Receive_AutoCharge_Data.rx[AutoCharge_DATA_SIZE-1]==AutoCharge_TAIL) //确认帧尾 { check2 = Check_Sum_AutoCharge(6,0);//校验位计算 if(check2 == Receive_AutoCharge_Data.rx[AutoCharge_DATA_SIZE-2]) //校验正确 { error2=0; } if(error2 == 0) //校验正确开始赋值 { transition_16 = 0; transition_16 |= Receive_AutoCharge_Data.rx[1]<<8; transition_16 |= Receive_AutoCharge_Data.rx[2]; Charging_Current = transition_16/1000+(transition_16 % 1000)0.001; //充电电流 Red = Receive_AutoCharge_Data.rx[3]; //红外接受状态 Charging = Receive_AutoCharge_Data.rx[4];//小车充电状态 charge_set_state = Receive_AutoCharge_Data.rx[5]; check_AutoCharge_data = true; //数据成功接收标志位 } } } if(count == 24) //Verify the length of the packet //验证数据包的长度 { count=0; //Prepare for the serial port data to be refill into the array //为串口数据重新填入数组做准备 if(Receive_Data.Frame_Tail == FRAME_TAIL) //Verify the frame tail of the packet //验证数据包的帧尾 { check=Check_Sum(22,READ_DATA_CHECK); //BCC check passes or two packets are interlaced //BCC校验通过或者两组数据包交错 if(check == Receive_Data.rx[22]) { error=0; //XOR bit check successful //异或位校验成功 } if(error == 0) { ///Check receive_data.rx for debugging use //查看Receive_Data.rx，调试使用 ROS_INFO("%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x", Receive_Data.rx[0],Receive_Data.rx[1],Receive_Data.rx[2],Receive_Data.rx[3],Receive_Data.rx[4],Receive_Data.rx[5],Receive_Data.rx[6],Receive_Data.rx[7], Receive_Data.rx[8],Receive_Data.rx[9],Receive_Data.rx[10],Receive_Data.rx[11],Receive_Data.rx[12],Receive_Data.rx[13],Receive_Data.rx[14],Receive_Data.rx[15], Receive_Data.rx[16],Receive_Data.rx[17],Receive_Data.rx[18],Receive_Data.rx[19],Receive_Data.rx[20],Receive_Data.rx[21],Receive_Data.rx[22],Receive_Data.rx[23]); / Receive_Data.Flag_Stop=Receive_Data.rx[1]; //set aside //预留位 Robot_Vel.X = Odom_Trans(Receive_Data.rx[2],Receive_Data.rx[3]); //Get the speed of the moving chassis in the X direction //获取运动底盘X方向速度 //Robot_Vel.Y = Odom_Trans(Receive_Data.rx[4],Receive_Data.rx[5]); //Get the speed of the moving chassis in the Y direction, The Y speed is only valid in the omnidirectional mobile robot chassis //获取运动底盘Y方向速度，Y速度仅在全向移动机器人底盘有效 //Robot_Vel.Z = Odom_Trans(Receive_Data.rx[6],Receive_Data.rx[7]); //Get the speed of the moving chassis in the Z direction //获取运动底盘Z方向速度 //MPU6050 stands for IMU only and does not refer to a specific model. It can be either MPU6050 or MPU9250 //Mpu6050仅代表IMU，不指代特定型号，既可以是MPU6050也可以是MPU9250 Mpu6050_Data.imu_rol = IMU_Trans(Receive_Data.rx[4],Receive_Data.rx[5]) 0.01 * 3.14159/180; Mpu6050_Data.imu_yaw = IMU_Trans(Receive_Data.rx[6],Receive_Data.rx[7]) * 0.01 * 3.14159/180; Mpu6050_Data.accele_x_data = IMU_Trans(Receive_Data.rx[8],Receive_Data.rx[9]); //Get the X-axis acceleration of the IMU //获取IMU的X轴加速度 Mpu6050_Data.accele_y_data = IMU_Trans(Receive_Data.rx[10],Receive_Data.rx[11]); //Get the Y-axis acceleration of the IMU //获取IMU的Y轴加速度 Mpu6050_Data.accele_z_data = IMU_Trans(Receive_Data.rx[12],Receive_Data.rx[13]); //Get the Z-axis acceleration of the IMU //获取IMU的Z轴加速度 Mpu6050_Data.gyros_x_data = IMU_Trans(Receive_Data.rx[14],Receive_Data.rx[15]); //Get the X-axis angular velocity of the IMU //获取IMU的X轴角速度 Mpu6050_Data.gyros_y_data = IMU_Trans(Receive_Data.rx[16],Receive_Data.rx[17]); //Get the Y-axis angular velocity of the IMU //获取IMU的Y轴角速度 Mpu6050_Data.gyros_z_data = IMU_Trans(Receive_Data.rx[18],Receive_Data.rx[19]); //Get the Z-axis angular velocity of the IMU //获取IMU的Z轴角速度 //Linear acceleration unit conversion is related to the range of IMU initialization of STM32, where the range is ±2g=19.6m/s^2 //线性加速度单位转化，和STM32的IMU初始化的时候的量程有关,这里量程±2g=19.6m/s^2 Mpu6050.linear_acceleration.x = Mpu6050_Data.accele_x_data * 0.01 * 9.8; Mpu6050.linear_acceleration.y = Mpu6050_Data.accele_y_data * 0.01 * 9.8; Mpu6050.linear_acceleration.z = Mpu6050_Data.accele_z_data * 0.01 * 9.8; //The gyroscope unit conversion is related to the range of STM32's IMU when initialized. Here, the range of IMU's gyroscope is ±500°/s //Because the robot generally has a slow Z-axis speed, reducing the range can improve the accuracy //陀螺仪单位转化，和STM32的IMU初始化的时候的量程有关，这里IMU的陀螺仪的量程是±500°/s //因为机器人一般Z轴速度不快，降低量程可以提高精度 Mpu6050.angular_velocity.x = Mpu6050_Data.gyros_x_data * 0.01 3.14159/180; Mpu6050.angular_velocity.y = Mpu6050_Data.gyros_y_data 0.01 3.14159/180; Mpu6050.angular_velocity.z = Mpu6050_Data.gyros_z_data 0.01 3.14159/180; //Get the battery voltage //获取电池电压 transition_16 = 0; transition_16 |= Receive_Data.rx[20]<<8; transition_16 |= Receive_Data.rx[21]; Power_voltage = transition_16/1000+(transition_16 % 1000)0.001; //Unit conversion millivolt(mv)->volt(v) //单位转换毫伏(mv)->伏(v) return true; } } } return false; } / Date: January 28, 2021 Function: Loop access to the lower computer data and issue topics 功能: 循环获取下位机数据与发布话题 / void turn_on_robot::Control() { //_Last_Time = ros::Time::now(); _Last_Time = rclcpp::Node::now(); while(rclcpp::ok()) { try { //_Now = ros::Time::now(); _Now = rclcpp::Node::now(); Sampling_Time = (_Now - _Last_Time).seconds(); //Retrieves time interval, which is used to integrate velocity to obtain displacement (mileage) //获取时间间隔，用于积分速度获得位移(里程) if (true == Get_Sensor_Data_New()) //The serial port reads and verifies the data sent by the lower computer, and then the data is converted to international units //通过串口读取并校验下位机发送过来的数据，然后数据转换为国际单位 { //Robot_Pos.X+=(Robot_Vel.X cos(Robot_Pos.Z) - Robot_Vel.Y * sin(Robot_Pos.Z)) * Sampling_Time; //Calculate the displacement in the X direction, unit: m //计算X方向的位移，单位：m //Robot_Pos.Y+=(Robot_Vel.X * sin(Robot_Pos.Z) + Robot_Vel.Y * cos(Robot_Pos.Z)) * Sampling_Time; //Calculate the displacement in the Y direction, unit: m //计算Y方向的位移，单位：m //Robot_Pos.Z+=Robot_Vel.Z * Sampling_Time; //The angular displacement about the Z axis, in rad //绕Z轴的角位移，单位：rad Robot_Pos.X+=(Robot_Vel.X * cos(Mpu6050_Data.imu_yaw)) * Sampling_Time; //Calculate the displacement in the X direction, unit: m //计算X方向的位移，单位：m Robot_Pos.Y+=(Robot_Vel.X * sin(Mpu6050_Data.imu_yaw)) * Sampling_Time; //Calculate the displacement in the Y direction, unit: m //计算Y方向的位移，单位：m //Robot_Pos.Z = 0 ; //Calculate the three-axis attitude from the IMU with the angular velocity around the three-axis and the three-axis acceleration //通过IMU绕三轴角速度与三轴加速度计算三轴姿态 Quaternion_Solution(Mpu6050.angular_velocity.x, Mpu6050.angular_velocity.y, Mpu6050.angular_velocity.z,\ Mpu6050.linear_acceleration.x, Mpu6050.linear_acceleration.y, Mpu6050.linear_acceleration.z); Publish_Odom(); //Pub the speedometer topic //发布里程计话题 Publish_ImuSensor(); //Pub the IMU topic //发布IMU话题 Publish_Voltage(); //Pub the topic of power supply voltage //发布电源电压话题 _Last_Time = _Now; //Record the time and use it to calculate the time interval //记录时间，用于计算时间间隔 } //自动回充数据话题 if(check_AutoCharge_data) { Publish_Charging(); //Pub a topic about whether the robot is charging //发布机器人是否在充电的话题 Publish_RED(); //Pub the topic whether the robot finds the infrared signal (charging station) //发布机器人是否寻找到红外信号(充电桩)的话题 Publish_ChargingCurrent(); //Pub the charging current topic //发布充电电流话题 check_AutoCharge_data = false; } rclcpp::spin_some(this->get_node_base_interface()); //The loop waits for the callback function //循环等待回调函数 } catch (const rclcpp::exceptions::RCLError & e ) { RCLCPP_ERROR(this->get_logger(),"unexpectedly failed whith %s",e.what()); } } } /****************** Date: January 28, 2021 Function: Constructor, executed only once, for initialization 功能: 构造函数, 只执行一次，用于初始化 */ turn_on_robot::turn_on_robot():rclcpp::Node ("wheeltec_robot") { Sampling_Time=0; Power_voltage=0; //Clear the data //清空数据 memset(&Robot_Pos, 0, sizeof(Robot_Pos)); memset(&Robot_Vel, 0, sizeof(Robot_Vel)); memset(&Receive_Data, 0, sizeof(Receive_Data)); memset(&Send_Data, 0, sizeof(Send_Data)); memset(&Mpu6050_Data, 0, sizeof(Mpu6050_Data)); //ros::NodeHandle private_nh("~"); //Create a node handle //创建节点句柄 //The private_nh.param() entry parameter corresponds to the initial value of the name of the parameter variable on the parameter server //private_nh.param()入口参数分别对应：参数服务器上的名称参数变量名初始值 this->declare_parameter<int>("serial_baud_rate",115200); this->declare_parameter<std::string>("usart_port_name", "/dev/ttyACM0"); this->declare_parameter<std::string>("odom_frame_id", "odom_combined"); this->declare_parameter<std::string>("robot_frame_id", "base_footprint"); this->declare_parameter<std::string>("gyro_frame_id", "gyro_link"); this->get_parameter("serial_baud_rate", serial_baud_rate);//Communicate baud rate 115200 to the lower machine //和下位机通信波特率115200 this->get_parameter("usart_port_name", usart_port_name);//Fixed serial port number //固定串口号 this->get_parameter("odom_frame_id", odom_frame_id);//The odometer topic corresponds to the parent TF coordinate //里程计话题对应父TF坐标 this->get_parameter("robot_frame_id", robot_frame_id);//The odometer topic corresponds to sub-TF coordinates //里程计话题对应子TF坐标 this->get_parameter("gyro_frame_id", gyro_frame_id);//IMU topics correspond to TF coordinates //IMU话题对应TF坐标 odom_publisher = create_publisher<nav_msgs::msg::Odometry>("odom", 2);//Create the odometer topic publisher //创建里程计话题发布者 imu_publisher = create_publisher<sensor_msgs::msg::Imu>("imu/data_raw", 2); //Create an IMU topic publisher //创建IMU话题发布者 voltage_publisher = create_publisher<std_msgs::msg::Float32>("PowerVoltage", 1);//Create a battery-voltage topic publisher //创建电池电压话题发布者 //回充发布者 Charging_publisher = create_publisher<std_msgs::msg::Bool>("robot_charging_flag", 10); Charging_current_publisher = create_publisher<std_msgs::msg::Float32>("robot_charging_current", 10); RED_publisher = create_publisher<std_msgs::msg::UInt8>("robot_red_flag", 10); //回充订阅者 Red_Vel_Sub = create_subscription<geometry_msgs::msg::Twist>( "red_vel", 10, std::bind(&turn_on_robot::Red_Vel_Callback, this, std::placeholders::_1)); Recharge_Flag_Sub = create_subscription<std_msgs::msg::Int8>( "robot_recharge_flag", 10, std::bind(&turn_on_robot::Recharge_Flag_Callback, this,std::placeholders::_1)); //回充服务提供 SetCharge_Service=this->create_service<turtlesim::srv::Spawn>\ ("/set_charge",std::bind(&turn_on_robot::Set_Charge_Callback,this, std::placeholders::_1 ,std::placeholders::_2)); //Set the velocity control command callback function //速度控制命令订阅回调函数设置 Cmd_Vel_Sub = create_subscription<geometry_msgs::msg::Twist>( "cmd_vel", 2, std::bind(&turn_on_robot::Cmd_Vel_Callback, this, _1)); RCLCPP_INFO(this->get_logger(),"wheeltec_robot Data ready"); //Prompt message //提示信息 try { //Attempts to initialize and open the serial port //尝试初始化与开启串口 Stm32_Serial.setPort(usart_port_name); //Select the serial port number to enable //选择要开启的串口号 Stm32_Serial.setBaudrate(serial_baud_rate); //Set the baud rate //设置波特率 serial::Timeout _time = serial::Timeout::simpleTimeout(2000); //Timeout //超时等待 Stm32_Serial.setTimeout(_time); Stm32_Serial.open(); //Open the serial port //开启串口 } catch (serial::IOException& e) { RCLCPP_ERROR(this->get_logger(),"wheeltec_robot can not open serial port,Please check the serial port cable! "); //If opening the serial port fails, an error message is printed //如果开启串口失败，打印错误信息 } if(Stm32_Serial.isOpen()) { RCLCPP_INFO(this->get_logger(),"wheeltec_robot serial port opened"); //Serial port opened successfully //串口开启成功提示 } } / Date: January 28, 2021 Function: Destructor, executed only once and called by the system when an object ends its life cycle 功能: 析构函数，只执行一次，当对象结束其生命周期时系统会调用这个函数 *******************/ turn_on_robot::~turn_on_robot() { //Sends the stop motion command to the lower machine before the turn_on_robot object ends //对象turn_on_robot结束前向下位机发送停止运动命令 Send_Data.tx[0]=0x06; Send_Data.tx[1] = FRAME_HEADER; Send_Data.tx[2] = 0; //The target velocity of the X-axis of the robot //机器人X轴的目标线速度 Send_Data.tx[4] = 0; Send_Data.tx[3] = 0; //The target velocity of the Y-axis of the robot //机器人Y轴的目标线速度 Send_Data.tx[6] = 0; Send_Data.tx[5] = 0; //The target velocity of the Z-axis of the robot //机器人Z轴的目标角速度 Send_Data.tx[8] = 0; Send_Data.tx[7] = 0; Send_Data.tx[9]=Check_Sum(9,SEND_DATA_CHECK); //Check the bits for the Check_Sum function //校验位，规则参见Check_Sum函数 Send_Data.tx[10]=0x0d; Send_Data.tx[11]=0x0a; try { Stm32_Serial.write(Send_Data.tx,sizeof (Send_Data.tx)); //Send data to the serial port //向串口发数据 } catch (serial::IOException& e) { RCLCPP_ERROR(this->get_logger(),"Unable to send data through serial port"); //If sending data fails, an error message is printed //如果发送数据失败,打印错误信息 } Stm32_Serial.close(); //Close the serial port //关闭串口 RCLCPP_INFO(this->get_logger(),"Shutting down"); //Prompt message //提示信息 } turn_on_wheeltec_robot.launch.py文件代码为： import os from pathlib import Path import launch from launch.actions import SetEnvironmentVariable from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import (DeclareLaunchArgument, GroupAction, IncludeLaunchDescription, SetEnvironmentVariable) from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression from launch_ros.actions import PushRosNamespace import launch_ros.actions from launch.conditions import IfCondition from launch.conditions import UnlessCondition def generate_launch_description(): # Get the launch directory bringup_dir = get_package_share_directory('turn_on_wheeltec_robot') launch_dir = os.path.join(bringup_dir, 'launch') ekf_config = Path(get_package_share_directory('turn_on_wheeltec_robot'), 'config', 'ekf.yaml') ekf_carto_config = Path(get_package_share_directory('turn_on_wheeltec_robot'), 'config', 'ekf_carto.yaml') imu_config = Path(get_package_share_directory('turn_on_wheeltec_robot'), 'config', 'imu.yaml') carto_slam = LaunchConfiguration('carto_slam', default='false') carto_slam_dec = DeclareLaunchArgument('carto_slam',default_value='false') wheeltec_robot = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(launch_dir, 'base_serial.launch.py')), ) robot_ekf = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(launch_dir, 'wheeltec_ekf.launch.py')), launch_arguments={'carto_slam':carto_slam}.items(), ) base_to_link = launch_ros.actions.Node( package='tf2_ros', executable='static_transform_publisher', name='base_to_link', arguments=['0', '0', '0','0', '0','0','base_footprint','base_link'], ) base_to_gyro = launch_ros.actions.Node( package='tf2_ros', executable='static_transform_publisher', name='base_to_gyro', arguments=['0', '0', '0','0', '0','0','base_link','gyro_link'], ) imu_filter_node = launch_ros.actions.Node( package='imu_filter_madgwick', executable='imu_filter_madgwick_node', parameters=[imu_config] ) # joint_state_publisher_node = launch_ros.actions.Node( # package='joint_state_publisher', # executable='joint_state_publisher', # name='joint_state_publisher', # ) #select a robot model,the default model is mini_mec #minibot.launch.py contains commonly used robot models #launch_arguments choices:mini_mec/mini_akm/mini_tank/mini_4wd/mini_diff/mini_omni/brushless_senior_diff #!!!At the same time, you need to modify ld.add_action(minibot_type) and #ld.add_action(flagship_type) minibot_type = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(launch_dir, 'robot_mode_description_minibot.launch.py')), launch_arguments={'bike_robot': 'true'}.items(), ) #robot_mode_description.launch.py contains flagship products, usually larger chassis robots #launch_arguments choices: #senior_akm/top_akm_bs/top_akm_dl #senior_mec_bs/senior_mec_dl/top_mec_bs/top_mec_dl/ mec_EightDrive_robot/flagship_mec_bs_robot/flagship_mec_dl_robot�� #senior_omni/top_omni #senior_4wd_bs_robot/senior_4wd_dl_robot/flagship_4wd_bs_robot/flagship_4wd_dl_robot/top_4wd_bs_robot/top_4wd_dl_robot #senior_diff_robot/four_wheel_diff_bs/four_wheel_diff_dl/flagship_four_wheel_diff_bs_robot/flagship_four_wheel_diff_dl_robot #!!!At the same time, you need to modify ld.add_action(flagship_type) and #ld.add_action(minibot_type) flagship_type = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(launch_dir, 'robot_mode_description.launch.py')), launch_arguments={'senior_akm': 'true'}.items(), ) ld = LaunchDescription() ld.add_action(minibot_type) #ld.add_action(flagship_type) ld.add_action(carto_slam_dec) ld.add_action(wheeltec_robot) ld.add_action(base_to_link) ld.add_action(base_to_gyro) # ld.add_action(joint_state_publisher_node) ld.add_action(imu_filter_node) ld.add_action(robot_ekf) return ld base_serial.launch.py文件代码为： from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration from launch.conditions import IfCondition from launch.conditions import UnlessCondition import launch_ros.actions #def launch(launch_descriptor, argv): def generate_launch_description(): return LaunchDescription([ launch_ros.actions.Node( package='turn_on_wheeltec_robot', executable='wheeltec_robot_node', output='screen', parameters=[{'usart_port_name': '/dev/ttyACM0', 'serial_baud_rate':115200, 'robot_frame_id': 'base_footprint', 'odom_frame_id': 'odom_combined', 'cmd_vel': 'cmd_vel',}], ) ]) robot_mode_description_minibot.launch.py文件代码为： import os from ament_index_python.packages import get_package_share_directory import launch_ros.actions from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable from launch.conditions import IfCondition from launch.substitutions import LaunchConfiguration, PythonExpression from launch_ros.actions import LoadComposableNodes from launch_ros.actions import Node from launch_ros.descriptions import ComposableNode from nav2_common.launch import RewrittenYaml def generate_robot_node(robot_urdf,child): return launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', name=f'robot_state_publisher_{child}', arguments=[os.path.join(get_package_share_directory('wheeltec_robot_urdf'), 'urdf', robot_urdf)], ) def generate_static_transform_publisher_node(translation, rotation, parent, child): return launch_ros.actions.Node( package='tf2_ros', executable='static_transform_publisher', name=f'base_to_{child}', arguments=[translation[0], translation[1], translation[2], rotation[0], rotation[1], rotation[2], parent, child], ) def generate_launch_description(): bike_robot = LaunchConfiguration('bike_robot', default='false') bike_robot_ = GroupAction( condition=IfCondition(bike_robot), actions=[ generate_robot_node('xuan_bike_robot.urdf','bike_robot'), generate_static_transform_publisher_node(['0.048', '0', '0.18'], ['0', '0', '0'], 'base_link', 'laser'), generate_static_transform_publisher_node(['0.048', '0', '0.18'], ['0', '0', '0'], 'base_link', 'camera_link'), ]) # Create the launch description and populate ld = LaunchDescription() # Set environment variables # Declare the launch options #ld.add_action(declare_use_composition_cmd) # Add the actions to launch all of the localiztion nodes ld.add_action(mini_mec_) ld.add_action(mini_akm_) ld.add_action(mini_tank_) ld.add_action(mini_4wd_) ld.add_action(mini_diff_) ld.add_action(brushless_senior_diff_) ld.add_action(bike_robot_) return ld xuan_bike_robot.urdf文件代码为： <?xml version="1.0"?> <robot name="wheeltec_robot"> <link name="base_link"> <visual> <geometry> <mesh filename="file:///home/deepbot/ros-relate/wheeltec_ros2/src/wheeltec_robot_urdf/wheeltec_robot_urdf/meshes/Xuan-release.stl"scale="0.001 0.001 0.001"/> </geometry> <origin xyz="0 0 0" rpy="0 0 0"/> <material name="blue"> <color rgba="0 0 0.8 0.5"/> </material> </visual> </link> </robot>

<think>好的，我现在要帮用户解决ROS2中IMU数据发布正常但机器人模型在RViz2中不动的问题。用户提到已经配置了TF转换，包括imu的frame_id到base_footprint，以及base_footprint到base_link。但开启节点后，晃动IMU时模型不动。首先，我需要考虑可能的原因。首先，可能TF树结构有问题。用户虽然设置了转换，但可能缺少某个关键环节，比如odom到base_footprint的转换。因为通常移动机器人的TF树需要从odom或map到base_link，然后到其他部件。如果odom到base_footprint的转换没有正确发布，RViz可能无法正确显示机器人的运动。其次，IMU数据是否正确集成到TF中。IMU通常发布的是相对于某个固定框架（比如imu_link）的数据，但需要转换到base_link，并且可能还需要融合到机器人的里程计中。如果IMU的数据没有被正确应用到base_link的位姿上，或者发布的TF中没有包含旋转信息，模型自然不会动。然后，检查URDF文件是否正确。用户提到xuan_bike_robot.urdf，需要确认其中的关节和链接定义是否正确，尤其是base_link和imu_link之间的关系，以及是否有正确的惯性属性。如果URDF中的惯性矩阵设置不正确，可能导致物理模拟或TF转换错误。接下来，查看底盘控制节点的代码（如wheeltec_robot.cpp）是否正确处理了IMU数据，并将其转换为TF发布。可能的问题包括未正确订阅IMU话题，或者发布的TF信息中没有更新旋转部分。例如，代码中可能只发布了位置而没有方向，或者方向数据未被正确解析。启动文件base_serial.launch.py的配置也需要检查，确保所有必要的节点（如机器人状态发布者、TF广播节点）被正确启动。如果节点未启动或参数配置错误，可能导致TF树不完整。另外，RViz2的配置是否正确。用户可能在RViz2中选择了错误的Fixed Frame，比如设置为map或odom，而实际发布的TF是从base_link开始的，导致显示问题。需要确认Fixed Frame设置为正确的框架，如odom，并且所有相关框架都正确连接。还有可能的问题包括时间同步。如果IMU数据和TF发布的时间戳不同步，RViz可能会丢弃旧的数据，导致模型不更新。需要检查时间戳是否正确，或者使用ROS2的时间同步机制来处理。最后，可能存在的参数错误或命名空间问题。例如，如果使用了namespace，但TF框架未正确命名，导致RViz无法找到对应的框架。需要确认所有框架名称在URDF、代码和启动文件中一致，没有拼写错误。总结可能的问题点：TF树结构不完整，IMU数据未正确集成到TF，URDF定义错误，节点未正确发布TF，启动文件配置问题，RViz设置错误，时间同步问题，命名空间或命名错误。接下来需要逐步排查这些可能性，给出具体的检查步骤和解决方案。</think>### ROS2中IMU数据正常但机器人模型静止的深度排查指南在ROS2中，当IMU传感器数据正常发布但机器人模型在RViz2中无响应时，需重点检查**TF树完整性**、**URDF模型定义**和**数据流集成**三个核心环节。以下是系统化的排查流程： --- #### 一、TF树完整性验证（50%概率问题根源） 1. **手动检查TF层级关系** 通过以下命令实时观察TF树结构： ```bash ros2 run tf2_tools view_frames.py ``` 确保存在完整的链路：`odom -> base_footprint -> base_link -> imu_link` *若`odom`未出现，说明里程计数据未正确发布（常见于底盘控制节点故障）* 2. **动态TF变换监控** 运行以下命令观察实时变换数据： ```bash ros2 run tf2_ros tf2_echo odom base_link ``` 晃动IMU时观察输出中的**旋转分量（orientation）**是否变化。若无变化则说明IMU数据未正确映射到TF变换中 3. **关键修复手段** 在底盘控制节点代码`wheeltec_robot.cpp`中添加以下逻辑： ```cpp // 创建静态tf广播器 static tf2_ros::StaticTransformBroadcaster static_broadcaster(node); // 在IMU回调函数中更新base_link位姿 void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) { geometry_msgs::msg::TransformStamped transform; transform.header.stamp = node->now(); transform.header.frame_id = "odom"; transform.child_frame_id = "base_link"; // 将IMU四元数直接映射到base_link transform.transform.rotation = msg->orientation; // 发布动态tf static_broadcaster.sendTransform(transform); } ``` *此代码强制将IMU方向与base_link绑定[^1]* --- #### 二、URDF模型缺陷排查（30%概率） 1. **检查机器人模型惯性参数** 在`xuan_bike_robot.urdf`中确认base_link的惯性矩阵： ```xml <link name="base_link"> <inertial> <mass value="3.0"/>  <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/> </inertial> </link> ``` *无效的惯性参数会导致物理引擎忽略该链接[^2]* 2. **验证关节类型** 确保base_footprint到base_link的关节类型为**fixed**： ```xml <joint name="base_joint" type="fixed"> <parent link="base_footprint"/> <child link="base_link"/> <origin xyz="0 0 0.076"/> </joint> ``` --- #### 三、数据流集成验证（20%概率） 1. **检查底盘节点发布频率** 在`base_serial.launch.py`中添加参数监控： ```python Node( package='wheeltec_robot', executable='wheeltec_robot_node', parameters=[{'publish_rate': 50}] # 确保不低于IMU采样率 ) ``` 2. **RViz2配置验证** - Fixed Frame必须设置为`odom`（而非map） - 添加RobotModel显示组件时，确保`Robot Description`参数与启动时设置的名称完全一致 - 启用TF可视化组件，确认所有坐标系箭头颜色为绿色（灰色表示无数据） 3. **时间同步诊断** 在终端查看IMU消息时间戳： ```bash ros2 topic echo /imu/data --no-arr | grep stamp ``` 对比系统时间差异应小于100ms，若偏差过大需检查硬件时钟同步 --- ### 关键配置文件示例 **base_serial.launch.py** 关键配置： ```python from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description(): return LaunchDescription([ Node( package='robot_state_publisher', executable='robot_state_publisher', parameters=[{'robot_description': Command(['xacro ', FindPackageShare('your_pkg'), '/urdf/xuan_bike_robot.urdf'])}] ), Node( package='wheeltec_robot', executable='wheeltec_robot_node', parameters=[{'use_imu': True}] ) ]) ``` --- ### 进阶调试技巧 1. **TF重映射检查** 若使用命名空间（namespace），需在launch文件中添加tf前缀： ```python Node( ..., parameters=[{'frame_prefix': 'robot1/'}] ) ``` 同时在RViz中将Fixed Frame改为`robot1/odom` 2. **DDS配置优化** 在`wheeltec_robot.cpp`中设置QoS策略： ```cpp auto qos = rclcpp::QoS(rclcpp::KeepLast(10)).reliable(); imu_sub_ = create_subscription<sensor_msgs::msg::Imu>("/imu/data", qos, ...); ``` ---

2025-04-02T02:29:07.741745951Z Debug: /test_results/debug.log 2025-04-02T02:29:07.749470618Z Output: /test_results/output.xml 2025-04-02T02:29:07.757978666Z Log: /test_results/log.html 2025-04-02T02:29:07.760244839Z Report: /test_results/report.html 2025-04-02T02:29:08.196142522Z 2025-04-02 10:29:08,195 - REQUESTHANDLER-GENERAL - ERROR - test_execution container execution failed 2025-04-02T02:29:08.196286140Z [192.168.101.12][REQUESTHANDLER-GENERAL] - ERROR - test_execution container execution failed 2025-04-02T02:29:08.196298630Z Request finished after 176.84100675582886 seconds 2025-04-02T02:29:08.196368728Z 2025-04-02 10:29:08,196 - QUEUE_RUNNER - INFO - Request finished after 176.84100675582886 seconds 2025-04-02T02:29:08.196612133Z 2025-04-02 10:29:08,196 - QUEUE_RUNNER - INFO - ROBOT_NOT_READY_COUNTER: 9 2025-04-02T02:29:08.196690730Z 2025-04-02 10:29:08,196 - QUEUE_RUNNER - WARNING - Robot was unable to start test execution due to faulty start conditions or test execution fail limit reached. Reason: test execution failed. Retrying in 0 seconds. 2025-04-02T02:29:08.196743458Z 2025-04-02 10:29:08,196 - QUEUE_RUNNER - ERROR - MAX Retries reached for test execution failed, cant start test executions. Pausing queue. 2025-04-02T02:29:08.196904489Z 2025-04-02 10:29:08,196 - STATE - INFO - Queue paused: True 2025-04-02T02:29:08.429011595Z 2025-04-02 10:29:08,428 - STATE - INFO - current battery temperature is 26.45 degree Celsius 2025-04-02T02:29:08.429031121Z 2025-04-02 10:29:08,428 - STATE - INFO - skip recharge check False 2025-04-02T02:29:08.435476005Z [192.168.101.12][STATE] - INFO - Queue paused: True 2025-04-02T02:29:08.435492097Z [192.168.101.12][STATE] - INFO - current battery temperature is 26.45 degree Celsius 2025-04-02T02:29:08.435494086Z [192.168.101.12][STATE] - INFO - skip recharge check False 2025-04-02T02:29:08.435495408Z XUnit: /results/23481005013200294/general/frost-basic_functionality-basic_function_test_docking.robot/2025-04-02-10-26-02/xunit.xml 2025-04-02T02:29:08.441624786Z Log: /app/log.html 2025-04-02T02:29:08.444406042Z Report: /app/report.html 2025-04-02T02:29:08.445306377Z 2025-04-02 10:29:08,445 - asyncio - ERROR - Unclosed client session 2025-04-02T02:29:08.445309256Z client_session: <aiohttp.client.ClientSession object at 0x7c73141cdcd0> 2025-04-02T02:29:08.462341617Z Log: /results/23481005013200294/general/frost-basic_functionality-basic_function_test_docking.robot/2025-04-02-10-26-02/log.html 2025-04-02T02:29:08.465324405Z Report: /results/23481005013200294/general/frost-basic_functionality-basic_function_test_docking.robot/2025-04-02-10-26-02/report.html 2025-04-02T02:29:08.468134887Z 2025-04-02 10:29:08,467 - ORBITALMOCKSERVICE - WARNING - Attempting to stop gracefully… 2025-04-02T02:29:28.838534261Z 2025-04-02 10:29:28,838 - ORBITALMOCKSERVICE - INFO - Container stopped gracefully. 2025-04-02T02:29:33.860750562Z [ORBITALMOCKSERVICE][orbital_mock_192.168.101.12] - WARNING - Attempting to stop gracefully… 2025-04-02T02:29:33.860775456Z [ORBITALMOCKSERVICE][orbital_mock_192.168.101.12] - INFO - Container stopped gracefully.

<think>好的，我现在需要分析用户提供的日志信息，并给出结构清晰的解答。首先，用户给出的日志内容似乎涉及到测试执行失败的情况，以及相关的错误信息和文件路径。我需要逐步拆解这些日志条目，找出关键错误点，并解释可能的原因和解决方案。首先，观察时间戳，所有日志的时间都在2025-04-02的02:29:07到02:29:33之间，这可能是一次测试执行的记录。接下来，用户提到了多个输出文件路径，如debug.log、output.xml、log.html、report.html等，这些通常是自动化测试框架（如Robot Framework）生成的报告文件。用户可能是在执行自动化测试时遇到了问题。接下来，日志中出现了错误信息：“test_execution container execution failed”，这表明测试容器执行失败。错误发生在“REQUESTHANDLER-GENERAL”模块，提示可能存在请求处理的问题。同时，日志显示请求处理耗时约176秒后结束，这可能意味着测试执行超时或遇到了资源瓶颈。随后，“QUEUE_RUNNER”模块多次记录错误，指出达到了最大重试次数（MAX Retries reached），并且队列被暂停。这说明系统在多次尝试重新执行测试后仍然失败，最终不得不暂停任务队列。此时需要检查测试失败的根本原因，以避免重复失败。此外，日志中还提到电池温度为26.45摄氏度，这可能与硬件设备相关，但温度看起来在正常范围内，可能不是直接导致失败的原因。不过需要确认是否有其他硬件状态异常。最后，出现了“Unclosed client session”的警告，提示有未关闭的客户端会话，这可能意味着资源泄漏，需要检查代码中是否正确释放了网络资源。此外，ORBITALMOCKSERVICE尝试优雅停止并最终成功，可能表示某个服务在测试结束后被正确关闭，但需要确认是否有异常终止的情况。综合来看，主要问题在于测试容器执行失败，导致队列达到最大重试次数而暂停。可能的原因包括测试脚本本身的错误、依赖服务不可用、资源不足（如内存、CPU）、环境配置问题或网络连接故障。建议用户检查测试日志（如debug.log、log.html）中的详细错误信息，确认测试用例的具体失败原因，并检查系统资源使用情况以及依赖服务的状态。同时，修复未关闭的客户端会话问题，避免资源泄漏。</think>以下是日志内容的分析及处理建议： --- ### **一、关键错误定位** 1. **测试容器执行失败** `2025-04-02T02:29:08.196... ERROR - test_execution container execution failed` **直接原因**：测试容器（可能是Docker容器或测试环境）启动失败或执行过程中崩溃。 2. **队列达到最大重试次数** `MAX Retries reached for test execution failed, cant start test executions. Pausing queue` **影响**：系统已尝试重试9次（`ROBOT_NOT_READY_COUNTER: 9`），均未成功，最终暂停任务队列。 --- ### **二、可能原因分析** 1. **测试脚本问题** - 测试用例逻辑错误（如断言失败、语法错误）。 - 依赖文件路径错误（如`/test_results/debug.log`或`/app/log.html`权限问题）。 2. **环境或资源问题** - 容器资源不足（内存、CPU限制）。 - 依赖服务未就绪（如数据库、API服务未启动）。 3. **硬件状态异常** - 日志中记录了电池温度（`26.45 degree Celsius`），虽未超标，但需确认其他传感器数据是否正常。 4. **网络或会话泄漏** - `Unclosed client session`警告提示未释放的HTTP连接，可能导致资源耗尽。 --- ### **三、调试步骤建议** 1. **检查测试日志文件** - 查看`/test_results/debug.log`和`log.html`，定位具体失败的测试步骤。 - 分析`output.xml`（Robot Framework结果文件）中的`<error>`标签。 2. **验证容器配置** - 确认容器启动参数（如挂载路径、环境变量）。 - 检查容器日志：`docker logs <container_id>`（若使用Docker）。 3. **排查资源限制** - 监控测试执行时的CPU/内存使用情况（如通过`top`或`htop`）。 - 调整容器资源配额（如增加内存限制）。 4. **修复未关闭的会话** - 在代码中显式关闭`aiohttp.ClientSession`，例如： ```python async with aiohttp.ClientSession() as session: # 使用session发起请求 ``` 5. **依赖服务检查** - 确认`ORBITALMOCKSERVICE`是否正常启动（日志显示其最终停止成功）。 - 验证网络连通性（如通过`curl`测试API端点）。 --- ### **四、关键文件路径汇总** | 文件类型 | 路径 | |----------------|-----------------------------------------------------------------------------| | 调试日志 | `/test_results/debug.log` | | 测试输出 | `/test_results/output.xml`（Robot Framework标准结果格式） | | HTML报告 | `/test_results/log.html` 和 `/test_results/report.html` | | XUnit报告 | `/results/.../xunit.xml`（兼容Jenkins等CI工具） | --- ### **五、后续操作建议** 1. **优先修复测试失败根因** - 若测试脚本问题，修正后重新触发队列。 - 若环境问题，修复后通过`STATE - INFO - Queue paused: True`恢复队列。 2. **优化重试机制** - 调整重试间隔（当前为`0 seconds`），避免密集重试加剧问题。 - 设置合理的`MAX Retries`阈值。 3. **监控与告警** - 对电池温度、资源使用率设置阈值告警。 - 捕获`aiohttp.ClientSession`未关闭事件并记录堆栈。 --- 通过以上步骤，可系统性定位并解决测试执行失败的问题。如需进一步分析，请提供`debug.log`中的具体错误堆栈。

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apt install protobuf Reading package lists... Done Building dependency tree... Done Reading state information... Done No apt package "protobuf", but there is a snap with that name. Try "snap install protobuf"

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apt install httpd-tools Reading package lists... Done Building dependency tree... Done Reading state information... Done E: Unable to locate package httpd-tools