[{"data":1,"prerenderedAt":856},["ShallowReactive",2],{"wiki-page-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-3-humble2jazzy":3,"wiki-doc-items-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-3-humble2jazzy":488,"language-switcher-data-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-3-humble2jazzy":840,"wiki-i18n-paths-/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-3-humble2jazzy":855},{"id":4,"title":5,"body":6,"canonicalPath":468,"chapter":469,"chapterSort":470,"date":471,"description":258,"docI18nKey":472,"docKey":473,"docRoot":474,"docTitle":475,"extension":476,"i18nKey":477,"isBlogPost":478,"isWikiDoc":479,"isWikiIndex":478,"layout":480,"legacyPath":480,"locale":481,"localeSlug":482,"meta":483,"navigation":479,"path":468,"seo":484,"sourcePath":485,"sourceStem":477,"stem":486,"wikiDepth":287,"__hash__":487},"content/_i18n/zh-hant/wiki/2023-12-30-ros2-tutorial/ch12-3-Humble2Jazzy.md","Humble與Jazzy導航的差異",{"type":7,"value":8,"toc":461},"minimark",[9,14,34,37,45,245,248,251,261,270,273,276,315,318,340,343,346,390,397,413,416,457],[10,11,13],"h2",{"id":12},"參考的官方-jazzy-示例","參考的官方 Jazzy 示例",[15,16,17,24,29],"ul",{},[18,19,20],"li",{},[21,22,23],"code",{},"/opt/ros/jazzy/share/nav2_bringup/params/nav2_params.yaml",[18,25,26],{},[21,27,28],{},"/opt/ros/jazzy/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml",[18,30,31],{},[21,32,33],{},"/opt/ros/jazzy/share/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml",[10,35,36],{"id":36},"修改內容",[38,39,40,41,44],"p",{},"可以複製一個humble的功能包並命名爲 ",[21,42,43],{},"mycar_navigation2_jazzy",",然後拿這個功能包進行改動.",[46,47,48,66,93,141,165,208,221],"ol",{},[18,49,50,51,53,54],{},"將功能包名保持爲 ",[21,52,43],{},"，並在相關位置補充修改邊界註釋。",[15,55,56,61],{},[18,57,58],{},[21,59,60],{},"package.xml",[18,62,63],{},[21,64,65],{},"CMakeLists.txt",[18,67,68,69,72,73,75,76],{},"將 ",[21,70,71],{},"_jazzy"," 包內 launch 文件的包路徑查詢保持爲 ",[21,74,43],{},"，並補充修改邊界註釋。",[15,77,78,83,88],{},[18,79,80],{},[21,81,82],{},"launch/nav2.launch.py",[18,84,85],{},[21,86,87],{},"launch/bringup.launch.py",[18,89,90],{},[21,91,92],{},"launch/auto_slam.launch.py",[18,94,95,96,99,100,103,104],{},"對照 Jazzy 官方 ",[21,97,98],{},"bt_navigator"," 示例更新 ",[21,101,102],{},"params/bt.yaml","。",[15,105,106,109,116,122,135],{},[18,107,108],{},"刪除 Humble 時代列出的 Nav2 內置 BT 插件列表。",[18,110,111,112,115],{},"Jazzy 會自動加載 Nav2 內置 BT 插件，",[21,113,114],{},"plugin_lib_names"," 只保留自定義 BT 插件。",[18,117,118,119,121],{},"沒有自定義 BT 插件時不傳 ",[21,120,114],{},"，避免空列表被解析成無類型參數。",[18,123,124,125,128,129,128,132,103],{},"新增 ",[21,126,127],{},"navigators","、",[21,130,131],{},"navigate_to_pose",[21,133,134],{},"navigate_through_poses",[18,136,124,137,140],{},[21,138,139],{},"error_code_names","，用於配合 Jazzy 官方行爲樹裏的 error code blackboard 變量。",[18,142,143,144],{},"對照 Jazzy 官方 pluginlib 類名更新 planner 和 behavior 插件。",[15,145,146,155],{},[18,147,148,151,152],{},[21,149,150],{},"nav2_navfn_planner/NavfnPlanner"," 改爲 ",[21,153,154],{},"nav2_navfn_planner::NavfnPlanner",[18,156,157,160,161,164],{},[21,158,159],{},"nav2_behaviors/Spin"," 等改爲 ",[21,162,163],{},"nav2_behaviors::Spin"," 等",[18,166,167,168],{},"對照 Jazzy 官方行爲樹更新自定義 BT XML。",[15,169,170,176,185,200],{},[18,171,172,173,103],{},"添加 ",[21,174,175],{},"BTCPP_format=\"4\"",[18,177,172,178,181,182,103],{},[21,179,180],{},"PlannerSelector"," 和 ",[21,183,184],{},"ControllerSelector",[18,186,187,128,190,128,193,196,197,103],{},[21,188,189],{},"ComputePathToPose",[21,191,192],{},"ComputePathThroughPoses",[21,194,195],{},"FollowPath"," 添加 ",[21,198,199],{},"error_code_id",[18,201,172,202,181,205,103],{},[21,203,204],{},"WouldAPlannerRecoveryHelp",[21,206,207],{},"WouldAControllerRecoveryHelp",[18,209,210,211],{},"對照 Jazzy 官方 controller 參數名更新進度檢查器參數。",[15,212,213],{},[18,214,215,151,218],{},[21,216,217],{},"progress_checker_plugin",[21,219,220],{},"progress_checker_plugins: [\"progress_checker\"]",[18,222,223,224],{},"整理 planner/controller 參數文件的 YAML 結構。",[15,225,226,233],{},[18,227,228,229,232],{},"將重複的 ",[21,230,231],{},"/**"," 頂層鍵合併成一個。",[18,234,235,181,238,241,242,244],{},[21,236,237],{},"global_costmap",[21,239,240],{},"local_costmap"," 掛在同一個 ",[21,243,231],{}," 根鍵下，避免參數解析時覆蓋 server 參數。",[10,246,247],{"id":247},"主要修復的問題",[38,249,250],{},"啓動時報錯：",[252,253,259],"pre",{"className":254,"code":256,"language":257,"meta":258},[255],"language-text","Failed to create navigator id navigate_to_pose. Exception: ID [ComputePathToPose] already registered\n","text","",[21,260,256],{"__ignoreMap":258},[38,262,263,264,266,267,269],{},"原因是 Humble 配置在 ",[21,265,114],{}," 中手動列出了 Nav2 內置 BT 插件，而 Jazzy 已經自動加載這些內置插件，導致 ",[21,268,189],{}," 被重複註冊。",[10,271,272],{"id":272},"使用方式",[38,274,275],{},"重新構建並 source：",[252,277,281],{"className":278,"code":279,"language":280,"meta":258,"style":258},"language-bash shiki shiki-themes github-light github-dark","colcon build --symlink-install --packages-select mycar_navigation2_jazzy\nsource install/setup.bash\n","bash",[21,282,283,306],{"__ignoreMap":258},[284,285,288,292,296,300,303],"span",{"class":286,"line":287},"line",1,[284,289,291],{"class":290},"sScJk","colcon",[284,293,295],{"class":294},"sZZnC"," build",[284,297,299],{"class":298},"sj4cs"," --symlink-install",[284,301,302],{"class":298}," --packages-select",[284,304,305],{"class":294}," mycar_navigation2_jazzy\n",[284,307,309,312],{"class":286,"line":308},2,[284,310,311],{"class":298},"source",[284,313,314],{"class":294}," install/setup.bash\n",[38,316,317],{},"啓動 Jazzy 版本：",[252,319,321],{"className":278,"code":320,"language":280,"meta":258,"style":258},"ros2 launch mycar_navigation2_jazzy bringup.launch.py use_sim_time:=True\n",[21,322,323],{"__ignoreMap":258},[284,324,325,328,331,334,337],{"class":286,"line":287},[284,326,327],{"class":290},"ros2",[284,329,330],{"class":294}," launch",[284,332,333],{"class":294}," mycar_navigation2_jazzy",[284,335,336],{"class":294}," bringup.launch.py",[284,338,339],{"class":294}," use_sim_time:=True\n",[10,341,342],{"id":342},"已驗證",[38,344,345],{},"已執行：",[252,347,349],{"className":278,"code":348,"language":280,"meta":258,"style":258},"colcon build --symlink-install --packages-select mycar_navigation2_jazzy\nros2 launch mycar_navigation2_jazzy nav2.launch.py --show-args\nros2 launch mycar_navigation2_jazzy bringup.launch.py --show-args\n",[21,350,351,363,377],{"__ignoreMap":258},[284,352,353,355,357,359,361],{"class":286,"line":287},[284,354,291],{"class":290},[284,356,295],{"class":294},[284,358,299],{"class":298},[284,360,302],{"class":298},[284,362,305],{"class":294},[284,364,365,367,369,371,374],{"class":286,"line":308},[284,366,327],{"class":290},[284,368,330],{"class":294},[284,370,333],{"class":294},[284,372,373],{"class":294}," nav2.launch.py",[284,375,376],{"class":298}," --show-args\n",[284,378,380,382,384,386,388],{"class":286,"line":379},3,[284,381,327],{"class":290},[284,383,330],{"class":294},[284,385,333],{"class":294},[284,387,336],{"class":294},[284,389,376],{"class":298},[38,391,392,393,396],{},"另外用 ",[21,394,395],{},"timeout"," 做過短啓動檢查：",[252,398,399],{"className":278,"code":320,"language":280,"meta":258,"style":258},[21,400,401],{"__ignoreMap":258},[284,402,403,405,407,409,411],{"class":286,"line":287},[284,404,327],{"class":290},[284,406,330],{"class":294},[284,408,333],{"class":294},[284,410,336],{"class":294},[284,412,339],{"class":294},[38,414,415],{},"結果：",[15,417,418,427,435,441,450],{},[18,419,420,422,423,181,425,103],{},[21,421,98],{}," 成功創建 ",[21,424,131],{},[21,426,134],{},[18,428,429,432,433,103],{},[21,430,431],{},"planner_server"," 成功加載 ",[21,434,154],{},[18,436,437,440],{},[21,438,439],{},"controller_server"," 成功加載 DWB 和所有 critics。",[18,442,443,432,446,449],{},[21,444,445],{},"behavior_server",[21,447,448],{},"nav2_behaviors::..."," 插件。",[18,451,452,453,456],{},"在沒有 Gazebo/robot_state_publisher/TF 的短啓動環境裏，最後停在等待 ",[21,454,455],{},"base_link -> map"," TF，這是預期的運行環境缺失，不是配置 fatal。",[458,459,460],"style",{},"html pre.shiki code .sScJk, html code.shiki .sScJk{--shiki-default:#6F42C1;--shiki-dark:#B392F0}html pre.shiki code .sZZnC, html code.shiki .sZZnC{--shiki-default:#032F62;--shiki-dark:#9ECBFF}html pre.shiki code .sj4cs, html code.shiki .sj4cs{--shiki-default:#005CC5;--shiki-dark:#79B8FF}html .default .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html.dark .shiki span {color: var(--shiki-dark);background: 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