Carla ros bridge报错:if LooseVersion(dist.version) != LooseVersion(CarlaRosBridge.CARLA_VERSION): Shut

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1. 错误

(carla) vcar@vcar:~/catkin_ws$ roslaunch rda_ros Town04_spawn_car.launch
... logging to /home/vcar/.ros/log/213cf35e-854d-11ef-86db-1beb98caf2a6/roslaunch-vcar-148658.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://vcar:40161/

SUMMARY
========

PARAMETERS
 * /carla_manual_control_agent_0/role_name: agent_0
 * /carla_ros_bridge/ego_vehicle_role_name: ["hero", "ego_veh...
 * /carla_ros_bridge/fixed_delta_seconds: 0.1
 * /carla_ros_bridge/host: localhost
 * /carla_ros_bridge/passive: False
 * /carla_ros_bridge/port: 2000
 * /carla_ros_bridge/register_all_sensors: False
 * /carla_ros_bridge/synchronous_mode: True
 * /carla_ros_bridge/synchronous_mode_wait_for_vehicle_control_command: False
 * /carla_ros_bridge/timeout: 200
 * /carla_ros_bridge/town: Town04
 * /carla_spawn_objects_vcar_148658_5134742705847298916/objects_definition_file: /home/vcar/catkin...
 * /carla_spawn_objects_vcar_148658_5134742705847298916/spawn_point_ego_vehicle: 
 * /carla_spawn_objects_vcar_148658_5134742705847298916/spawn_sensors_only: False
 * /carla_waypoint_publisher/host: localhost
 * /carla_waypoint_publisher/port: 2000
 * /carla_waypoint_publisher/role_name: agent_0
 * /carla_waypoint_publisher/timeout: 200
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /use_sim_time: True

NODES
  /
    carla_manual_control_agent_0 (carla_manual_control/carla_manual_control.py)
    carla_map_visualization (rda_ros/carla_map_visualization.py)
    carla_ros_bridge (carla_ros_bridge/bridge.py)
    carla_spawn_objects_vcar_148658_5134742705847298916 (carla_spawn_objects/carla_spawn_objects.py)
    carla_waypoint_publisher (rda_ros/carla_waypoint_publisher_rviz_goal.py)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [148696]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 213cf35e-854d-11ef-86db-1beb98caf2a6
process[rosout-1]: started with pid [148746]
started core service [/rosout]
process[carla_ros_bridge-2]: started with pid [148753]
process[carla_waypoint_publisher-3]: started with pid [148754]
process[carla_map_visualization-4]: started with pid [148755]
process[carla_spawn_objects_vcar_148658_5134742705847298916-5]: started with pid [148756]
process[carla_manual_control_agent_0-6]: started with pid [148757]
process[rviz-7]: started with pid [148758]
/home/vcar/catkin_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/bridge.py:15: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  import pkg_resources
pygame 2.6.0 (SDL 2.28.4, Python 3.8.13)
Hello from the pygame community. https://www.pygame.org/contribute.html
[INFO] [1728375180.917521, 0.000000]: Waiting for CARLA world (topic: /carla/world_info)...
[INFO] [1728375181.035928, 0.000000]: Trying to connect to localhost:2000
/home/vcar/catkin_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/bridge.py:416: DeprecationWarning: distutils Version classes are deprecated. Use packaging.version instead.
  if LooseVersion(dist.version) != LooseVersion(CarlaRosBridge.CARLA_VERSION):
Shutting down.
================================================================================REQUIRED process [carla_map_visualization-4] has died!
process has finished cleanly
log file: /home/vcar/.ros/log/213cf35e-854d-11ef-86db-1beb98caf2a6/carla_map_visualization-4*.log
Initiating shutdown!
================================================================================
[rviz-7] killing on exit
[carla_manual_control_agent_0-6] killing on exit
[carla_spawn_objects_vcar_148658_5134742705847298916-5] killing on exit
[carla_waypoint_publisher-3] killing on exit
[carla_map_visualization-4] killing on exit
[carla_ros_bridge-2] killing on exit
QFileSystemWatcher::removePaths: list is empty
QFileSystemWatcher::removePaths: list is empty
Traceback (most recent call last):
  File "/home/vcar/catkin_ws/src/ros-bridge/ros_compatibility/src/ros_compatibility/node.py", line 84, in new_client
    rospy.wait_for_service(srv_name, timeout=timeout)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 166, in wait_for_service
[ERROR] [1728375187.229122, 0.000000]: Error while waiting for world info: rospy shutdown
    raise ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/vcar/catkin_ws/devel/lib/carla_spawn_objects/carla_spawn_objects.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/vcar/catkin_ws/src/ros-bridge/carla_spawn_objects/src/carla_spawn_objects/carla_spawn_objects.py", line 378, in <module>
    main()
  File "/home/vcar/catkin_ws/src/ros-bridge/carla_spawn_objects/src/carla_spawn_objects/carla_spawn_objects.py", line 356, in main
    spawn_objects_node = CarlaSpawnObjects()
  File "/home/vcar/catkin_ws/src/ros-bridge/carla_spawn_objects/src/carla_spawn_objects/carla_spawn_objects.py", line 56, in __init__
    self.spawn_object_service = self.new_client(SpawnObject, "/carla/spawn_object")
  File "/home/vcar/catkin_ws/src/ros-bridge/ros_compatibility/src/ros_compatibility/node.py", line 89, in new_client
    raise ROSException(e)
ros_compatibility.exceptions.ROSException: rospy shutdown
[INFO] [1728375187.230175, 0.000000]: Shutting down.
[carla_ros_bridge-2] escalating to SIGTERM
[carla_ros_bridge-2] escalating to SIGKILL
[rosout-1] killing on exit
[master] killing on exit
Shutdown errors:
 * process[carla_ros_bridge-2, pid 148753]: required SIGKILL. May still be running.
shutting down processing monitor...
... shutting down processing monitor complete
done

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2. 错误原因

你的代码中使用了 distutils 模块的 Version 类，但这个类已经被废弃，建议使用 packaging.version 模块来替代它。这种警告不会导致代码立即出错，但随着时间的推移，旧的模块可能在新版本的 Python 中被移除。

3. 解决方法

pip install packaging

然后修改bridge.py中的代码，替换 distutils 的 LooseVersion：在代码中，找到类似于 LooseVersion(dist.version) 的地方，替换为 packaging.version.Version。例如：

from packaging.version import Version
if Version(dist.version) != Version(CarlaRosBridge.CARLA_VERSION):

具体修改如下图