rviz和tf树报错修改

最新推荐文章于 2023-05-24 13:14:34 发布

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最新推荐文章于 2023-05-24 13:14:34 发布

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分类专栏：多机器人文章标签： python

本文链接：https://blog.csdn.net/qq_42592227/article/details/126095721

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跟着这个博主进行多机器人仿真，一直出错，有点崩溃了

ROS仿真笔记之——基于gazebo的ROS多机器人仿真_gwpscut的博客-CSDN博客

TF_REPEATED_DATA warnings - ROS Answers: Open Source Q&A Forum

尝试1：没有用

<publishWheelTF>false</publishWheelTF>
<publishWheelJointState>false</publishWheelJointState>

尝试2：虽然机器人模型不报错了，但是warning仍旧报错，尝试查看tf树

尝试3：

rosrun rqt_tf_tree rqt_tf_tree

报错

Traceback (most recent call last):
  File "/opt/ros/noetic/lib/rqt_tf_tree/rqt_tf_tree", line 8, in <module>
    sys.exit(main.main(sys.argv, standalone='rqt_tf_tree.tf_tree.RosTfTree'))
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/main.py", line 65, in main
    hash(os.environ['ROS_PACKAGE_PATH'])))
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/main.py", line 407, in main
    from python_qt_binding import QT_BINDING
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/__init__.py", line 55, in <module>
    from .binding_helper import loadUi, QT_BINDING, QT_BINDING_MODULES, QT_BINDING_VERSION  # @UnusedImport
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 276, in <module>
    getattr(sys, 'SELECT_QT_BINDING_ORDER', None),
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 120, in _select_qt_binding
    (', '.join(["'%s'" % b for b in binding_order]), '\n'.join(error_msgs)))
ImportError: Could not find Qt binding (looked for: 'pyqt', 'pyside'):
  ImportError for 'pyqt': No module named 'PyQt5'
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 108, in _select_qt_binding
    QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 153, in _load_pyqt
    _named_import('PyQt5.%s' % module_name)
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 133, in _named_import
    module = builtins.__import__(name)
ModuleNotFoundError: No module named 'PyQt5'

  ImportError for 'pyside': No module named 'PySide2'
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 108, in _select_qt_binding
    QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 185, in _load_pyside
    _named_import('PySide2.%s' % module_name)
  File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 133, in _named_import
    module = builtins.__import__(name)
ModuleNotFoundError: No module named 'PySide2'

安装pyqt5

pip install PyQt5 -i https://pypi.douban.com/simple

继续运行rosrun rqt_tf_tree rqt_tf_tree，报错

RosPluginProvider.load(qt_gui_cpp/CppPluginProvider) exception raised in __builtin__.__import__(qt_gui_cpp.cpp_plugin_provider, [CppPluginProvider]):
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_plugin_provider.py", line 33, in <module>
    from .cpp_binding_helper import qt_gui_cpp
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
    from . import libqt_gui_cpp_sip
ValueError: PyCapsule_GetPointer called with incorrect name

RecursivePluginProvider.discover() loading plugin "qt_gui_cpp/CppPluginProvider" failed:
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/recursive_plugin_provider.py", line 60, in discover
    instance = self._plugin_provider.load(plugin_descriptor.plugin_id(), None)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 90, in load
    raise e
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_plugin_provider.py", line 33, in <module>
    from .cpp_binding_helper import qt_gui_cpp
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
    from . import libqt_gui_cpp_sip
ValueError: PyCapsule_GetPointer called with incorrect name

RosPluginProvider.load(rqt_tf_tree/RosTfTree) exception raised in __builtin__.__import__(rqt_tf_tree.tf_tree, [RosTfTree]):
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_tf_tree/tf_tree.py", line 47, in <module>
    from qt_dotgraph.pydotfactory import PydotFactory
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_dotgraph/pydotfactory.py", line 41, in <module>
    import pydot
ModuleNotFoundError: No module named 'pydot'

PluginManager._load_plugin() could not load plugin "rqt_tf_tree/RosTfTree":
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/plugin_handler.py", line 102, in load
    self._load()
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/plugin_handler_direct.py", line 55, in _load
    self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui_py/ros_py_plugin_provider.py", line 61, in load
    return super(RosPyPluginProvider, self).load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 90, in load
    raise e
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_tf_tree/tf_tree.py", line 47, in <module>
    from qt_dotgraph.pydotfactory import PydotFactory
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_dotgraph/pydotfactory.py", line 41, in <module>
    import pydot
ModuleNotFoundError: No module named 'pydot'

pip install pyqt5==5.10.1

继续运行，报错

Could not import "pyqt" bindings of qt_gui_cpp library - so C++ plugins will not be available:
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
    from . import libqt_gui_cpp_sip
ImportError: /home/zyd/anaconda3/envs/py37/lib/python3.7/site-packages/PyQt5/Qt/lib/libQt5Core.so.5: version `Qt_5.12' not found (required by /opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/libqt_gui_cpp_sip.so)

RosPluginProvider.load(rqt_tf_tree/RosTfTree) exception raised in __builtin__.__import__(rqt_tf_tree.tf_tree, [RosTfTree]):
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_tf_tree/tf_tree.py", line 47, in <module>
    from qt_dotgraph.pydotfactory import PydotFactory
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_dotgraph/pydotfactory.py", line 41, in <module>
    import pydot
ModuleNotFoundError: No module named 'pydot'

PluginManager._load_plugin() could not load plugin "rqt_tf_tree/RosTfTree":
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/plugin_handler.py", line 102, in load
    self._load()
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/plugin_handler_direct.py", line 55, in _load
    self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui_py/ros_py_plugin_provider.py", line 61, in load
    return super(RosPyPluginProvider, self).load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 90, in load
    raise e
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_tf_tree/tf_tree.py", line 47, in <module>
    from qt_dotgraph.pydotfactory import PydotFactory
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_dotgraph/pydotfactory.py", line 41, in <module>
    import pydot
ModuleNotFoundError: No module named 'pydot'

pip install pydot

报错，但是出现tf树了

Could not import "pyqt" bindings of qt_gui_cpp library - so C++ plugins will not be available:
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
    from . import libqt_gui_cpp_sip
ImportError: /home/zyd/anaconda3/envs/py37/lib/python3.7/site-packages/PyQt5/Qt/lib/libQt5Core.so.5: version `Qt_5.12' not found (required by /opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/libqt_gui_cpp_sip.so)

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 2760.637000 according to authority /gazebo
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp

尝试卸载PyQt5

pip uninstall PyQt5

pip list 
pip uninstall PyQt5-Qt5   5.15.2

  Successfully uninstalled PyQt5-Qt5-5.15.2
WARNING: Skipping 5.15.2 as it is not installed.

再次pip list没有PyQt5了，虽然有一个 PyQt5-sip 12.11.0，暂时不管，重新安装5.10

Collecting pyqt5==5.10.1
  Using cached PyQt5-5.10.1-5.10.1-cp35.cp36.cp37.cp38-abi3-manylinux1_x86_64.whl (107.8 MB)
Requirement already satisfied: sip<4.20,>=4.19.4 in /home/zyd/anaconda3/envs/py37/lib/python3.7/site-packages (from pyqt5==5.10.1) (4.19.8)
Installing collected packages: pyqt5
Successfully installed pyqt5-5.10.1

还是先卸载sip吧，估计有问题

pip uninstall PyQt5-sip                     12.11.0

运行tf树还是出现这个蓝色字体，tf树看起来问题很大的样子

ImportError: /home/zyd/anaconda3/envs/py37/lib/python3.7/site-packages/PyQt5/Qt/lib/libQt5Core.so.5: version `Qt_5.12' not found (required by /opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/libqt_gui_cpp_sip.so)