log如下： roslaunch avp_slam_plus slamRGB.launch ... logging to /root/.ros/log/4fbde08a-2433-11ed-b991-d85ed32f568d/roslaunch-shenjiacheng-Z590-GAMING-X-1622957.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://shenjiacheng-Z590-GAMING-X:46725/

SUMMARY

PARAMETERS

/IcpEuclideanFitnessEpsilon: 0.001
/IcpMaxCorrespondenceDistance: 20
/IcpMaximumIterations: 100
/IcpTransformationEpsilon: 1e-10
/InvalidColorThresh: 60
/K: [337.208441096804...
/R0: [0, 1.0, 0, 0.0, ...
/T0: [0, 0.56, 0.0]
/cameraRealiableDis: 8
/closePointThresh: 0.1
/farPointThresh: 20
/gazebo/enable_ros_network: True
/icpFitnessScoreThresh: 0.3
/imageColIncrease: 4
/imageRowIncrease: 2
/mapSave: True
/mapSaveLocation: /mnt/sjc_workspac...
/ndtFitnessScoreThresh: 0.3
/ndtResolution: 1.0
/ndtTransformationEpsilon: 0.01
/odomKeyFramDisThresh: 1.0
/pointCloudLeafSize: 0.1
/robot_description: <?xml version="1....
/robot_state_publisher/publish_frequency: 50.0
/rosdistro: noetic
/rosversion: 1.15.14
/rotateDeg1: -1.0471975511965976
/rotateDeg2: -2.0943951023931953
/rotateDeg3: -3.141592653589793
/rotateDeg4: 2.0943951023931953
/rotateDeg5: 1.0471975511965976
/skyColor: 178
/useICP: False
/useNDT: True
/use_sim_time: True

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_publisher (joint_state_publisher/joint_state_publisher) mapping (avp_slam_plus/mapping) pointCloudFromRGB (avp_slam_plus/pointCloudFromRGB) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [1622974] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4fbde08a-2433-11ed-b991-d85ed32f568d process[rosout-1]: started with pid [1622984] started core service [/rosout] process[gazebo-2]: started with pid [1622991] process[gazebo_gui-3]: started with pid [1622995] process[joint_state_publisher-4]: started with pid [1623000] process[robot_state_publisher-5]: started with pid [1623002] process[urdf_spawner-6]: started with pid [1623003] process[rviz-7]: started with pid [1623004] process[pointCloudFromRGB-8]: started with pid [1623005] process[mapping-9]: started with pid [1623011] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [INFO] [1661403832.860590, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1661403832.867019, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [ INFO] [1661403832.923459101]: Finished loading Gazebo ROS API Plugin. [ INFO] [1661403832.924257138]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1661403832.991150598]: Finished loading Gazebo ROS API Plugin. [ INFO] [1661403832.992010511]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1661403834.047507709, 1825.804000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1661403834.072742, 0.000000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1661403834.110467642, 1825.865000000]: Physics dynamic reconfigure ready. [INFO] [1661403834.239540, 1825.971000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1661403834.255844258, 1825.971000000]: Starting plugin DiffDrive(ns = //) [ INFO] [1661403834.255958825, 1825.971000000]: DiffDrive(ns = //): <rosDebugLevel> = Debug [ INFO] [1661403834.257063601, 1825.971000000]: DiffDrive(ns = //): <tf_prefix> = [DEBUG] [1661403834.257130804, 1825.971000000]: DiffDrive(ns = //): <commandTopic> = cmd_vel [DEBUG] [1661403834.257150965, 1825.971000000]: DiffDrive(ns = //): <odometryTopic> = odom [DEBUG] [1661403834.257164804, 1825.971000000]: DiffDrive(ns = //): <odometryFrame> = odom [DEBUG] [1661403834.257178969, 1825.971000000]: DiffDrive(ns = //): <robotBaseFrame> = base_footprint [DEBUG] [1661403834.257223146, 1825.971000000]: DiffDrive(ns = //): <publishWheelTF> = true [ WARN] [1661403834.257243125, 1825.971000000]: DiffDrive(ns = //): missing <publishOdomTF> default is true [DEBUG] [1661403834.257265865, 1825.971000000]: DiffDrive(ns = //): <publishWheelJointState> = true [DEBUG] [1661403834.257326302, 1825.971000000]: DiffDrive(ns = //): <wheelSeparation> = 0.59999999999999998 [DEBUG] [1661403834.257349700, 1825.971000000]: DiffDrive(ns = //): <wheelDiameter> = 0.12 [DEBUG] [1661403834.257368468, 1825.971000000]: DiffDrive(ns = //): <wheelAcceleration> = 1.8 [DEBUG] [1661403834.257386434, 1825.971000000]: DiffDrive(ns = //): <wheelTorque> = 30 [DEBUG] [1661403834.257402254, 1825.971000000]: DiffDrive(ns = //): <updateRate> = 100 [ WARN] [1661403834.257451387, 1825.971000000]: DiffDrive(ns = //): missing <odometrySource> default is 1 [DEBUG] [1661403834.257488104, 1825.971000000]: DiffDrive(ns = //): <leftJoint> = base_to_wheel_left_joint [urdf_spawner-6] process has finished cleanly log file: /root/.ros/log/4fbde08a-2433-11ed-b991-d85ed32f568d/urdf_spawner-6*.log

Aug 25 '22 05:08 scottymax

我和你情况一样，没有小车，但是有报错，我还没解决

Sep 29 '22 07:09 13572320829

系统升级了，我现在也在noetic上跑代码，但是catkin_make的时候报了很多错，请问楼主遇到过吗

Oct 12 '22 10:10 CiaranYoung

[urdf_spawner-5] process has finished cleanly log file: /.ros/log/d515c1d8-5423-11ed-b0c5-4d020f40fd42/urdf_spawner-5*.log 我也一样，rviz没有数据显示，没有小车模型，请问解决了吗