ROS 2 - STELLA N1 Navigation 관련 문의 > STELLA_N1_Forum

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STELLA N1 SBC 버전: Raspberry Pi

REMOTE PC 버전:

ROS 버전: ROS2

"ros2 launch stella_navigation2 navigation2.launch.py map:=$HOME/map.yaml"
이 명령어를 친 후

kin@kin-VirtualBox:~$ ros2 launch stella_navigation2 navigation2.launch.py map:=$HOME/map.yaml
[INFO] [launch]: All log files can be found below /home/kin/.ros/log/2022-12-06-16-42-59-618220-kin-VirtualBox-38152
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=InvalidLaunchFileError('py')>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
    content, package_prefix = get_resource('packages', package_name)
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
    raise LookupError(
LookupError: Could not find the resource 'nav2_bringup' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 53, in get_launch_description_from_any_launch_file
    return loader(launch_file_path)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/kin/colcon_ws/install/stella_navigation2/share/stella_navigation2/launch/navigation2.launch.py", line 43, in generate_launch_description
    nav2_launch_file_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch')
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 70, in get_package_share_directory
    return os.path.join(get_package_prefix(package_name), 'share', package_name)
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
    raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'nav2_bringup' not found, searching: ['/home/kin/colcon_ws/install/stella_ui_msg', '/home/kin/colcon_ws/install/stella_ui', '/home/kin/colcon_ws/install/stella_teleop', '/home/kin/colcon_ws/install/stella_navigation2', '/home/kin/colcon_ws/install/stella_description', '/home/kin/colcon_ws/install/stella_cartographer', '/opt/ros/foxy']"

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 130, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
    return get_launch_description_from_any_launch_file(location)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
    raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: "package 'nav2_bringup' not found, searching: ['/home/kin/colcon_ws/install/stella_ui_msg', '/home/kin/colcon_ws/install/stella_ui', '/home/kin/colcon_ws/install/stella_teleop', '/home/kin/colcon_ws/install/stella_navigation2', '/home/kin/colcon_ws/install/stella_description', '/home/kin/colcon_ws/install/stella_cartographer', '/opt/ros/foxy']"

이런 오류가 발생했습니다.