원격 PC 매개변수 설정 문의 건 > STELLA_N5_Forum

안녕하세요.

아이디어 로봇입니다.

원격 PC의 해당 디렉터리는 라즈베리파이 설정이 아닌 원격PC 설정을 진행하시면 원격PC에 설치되기 때문에 라즈베리 파이 설정 - ROS2 페이지와는 상관없습니다.

원격PC 설정 메뉴얼을 다시 확인하여 주세요.
https://idearobot.gitbook.io/stella-n5/stella-n5-2/pc-ros2

원격PC에서 설정을 하는데 param 디렉토리가 없다고 나온 것입니다.

제가 진행한 내용을 순서대로 기록해보겠습니다.
1. 원격 PC설정 : 원클릭 설치하고, 패키지까지 설치를 끝낸 상태.
2. 라즈베리파이 : SD카드에 이미지 설치 완료. (다른 설정이나 설치를 하라는 글이 없어서 진행 안함)
3. 매개변수설정 : 라즈베리파이 매개변수 설정 완료. 원격PC 매개변수 설정에서 폴더를 찾을 수 없다고 나와서 진행 중단.

현재의 상태입니다.
혹시 매개변수를 설정하지 않아도 STELLA N5 구동이 가능한 것이면 그냥 구동 진행해보려고 합니다.

해당 경로에 파라미터 파일이 없는 경우 원격 PC의 패키지가 제대로 설치되지 않았을 가능성이 있습니다.

원격 PC의 터미널에서 ls로 colcon_ws 가 있는지 먼저 확인해주세요.

colon_ws는 확인이 됩니다.

colcon_ws가 아닌 colon_ws 가 확인되었다면
mv colon_ws colcon_ws로 이름을 변경하여 주시면 파라미터 설정이 가능하실 것입니다.

파라미터 설정이 완료되신 후
colcon_ws로 이동하셔서 sudo rm -r build/ install/ log/ 명령어로 잘못 빌드된 패키지를 삭제하여 주시고
colcon build를 다시 진행하여 주시면 문제없이 작동하실 것으로 예상됩니다.

했는데
rm : cannot remove 'build/' " No such file or directory
rm : cannot remove 'install/' " No such file or directory
rm : cannot remove 'log/' " No such file or directory
이렇게 나오네요 ㅜㅜ

원클릭 설치부터 다시 진행해야 하는거겠죠?

colcon_ws에 해당 디렉터리가 없다면 colcon build를 진행하지 않은 상태일 수 있습니다.

colcon build를 이전에 진행하신 적 없으시다면 삭제 없이 바로 colcon build를 진행하시면 됩니다.

만약 colcon build를 이전에 진행하셨다면 잘못된 위치에서 진행하셨을 수 있습니다.
해당 세가지 디렉터리가 있는 위치를 찾으셔서 삭제 진행하신 후 colcon_ws로 이동하셔서 colcon build를 진행하셔 주시면 됩니다.

ya@ya-15UD:~$ colcon build
[0.859s] ERROR:colcon.colcon_core.extension_point:Exception loading extension 'colcon_core.package_identification.python_setup_py': No module named 'distutils'
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 124, in load_extension_points
    extension_type = load_extension_point(name, value, group)
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 165, in load_extension_point
    return EntryPoint(name, value, group).load()
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/metadata/__init__.py", line 205, in load
    module = import_module(match.group('module'))
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/__init__.py", line 90, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 995, in exec_module
  File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
  File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 10, in <module>
    import distutils.core
ModuleNotFoundError: No module named 'distutils'

[1.025s] ERROR:colcon.colcon_core.extension_point:Exception loading extension 'colcon_core.package_augmentation.python_setup_py': No module named 'distutils'
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 124, in load_extension_points
    extension_type = load_extension_point(name, value, group)
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 165, in load_extension_point
    return EntryPoint(name, value, group).load()
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/metadata/__init__.py", line 205, in load
    module = import_module(match.group('module'))
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/__init__.py", line 90, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 995, in exec_module
  File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
  File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_augmentation/python_setup_py.py", line 9, in <module>
    from colcon_python_setup_py.package_identification.python_setup_py import \
  File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 10, in <module>
    import distutils.core
ModuleNotFoundError: No module named 'distutils'

[1.028s] ERROR:colcon.colcon_core.extension_point:Exception loading extension 'colcon_core.package_augmentation.ros_ament_python': No module named 'distutils'
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 124, in load_extension_points
    extension_type = load_extension_point(name, value, group)
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 165, in load_extension_point
    return EntryPoint(name, value, group).load()
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/metadata/__init__.py", line 205, in load
    module = import_module(match.group('module'))
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/__init__.py", line 90, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 995, in exec_module
  File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
  File "/usr/lib/python3/dist-packages/colcon_ros/package_augmentation/ros_ament_python.py", line 8, in <module>
    from colcon_python_setup_py.package_identification.python_setup_py \
  File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 10, in <module>
    import distutils.core
ModuleNotFoundError: No module named 'distutils'

                   
Summary: 0 packages finished [0.62s]
ya@ya-15UD:~$ cd ~/colcon_ws/src/STELLA_N5_REMOTEPC_ROS2/stella_navigation2/param
bash: cd: /home/ya/colcon_ws/src/STELLA_N5_REMOTEPC_ROS2/stella_navigation2/param: No such file or directory
ya@ya-15UD:~$

에러가 또 뜨네요 ㅜㅜ

일단 colcon build는 홈 디렉터리가 아닌 colcon_ws 에서 진행하셔야 합니다.

우분투 명령어는 현재 터미널의 위치에서 실행 되기 때문에 터미널의 위치는 매우 중요합니다.

초보가 계속 귀찮게 만들어 드리는 것 같아서 죄송하네요 ㅜㅜ
역시 에러가 났습니다.

ya@ya-15UD:~$ cd colcon_ws
ya@ya-15UD:~/colcon_ws$ colcon build
[0.738s] ERROR:colcon.colcon_core.extension_point:Exception loading extension 'colcon_core.package_identification.python_setup_py': No module named 'distutils'
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 124, in load_extension_points
    extension_type = load_extension_point(name, value, group)
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 165, in load_extension_point
    return EntryPoint(name, value, group).load()
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/metadata/__init__.py", line 205, in load
    module = import_module(match.group('module'))
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/__init__.py", line 90, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 995, in exec_module
  File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
  File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 10, in <module>
    import distutils.core
ModuleNotFoundError: No module named 'distutils'

[0.842s] ERROR:colcon.colcon_core.extension_point:Exception loading extension 'colcon_core.package_augmentation.python_setup_py': No module named 'distutils'
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 124, in load_extension_points
    extension_type = load_extension_point(name, value, group)
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 165, in load_extension_point
    return EntryPoint(name, value, group).load()
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/metadata/__init__.py", line 205, in load
    module = import_module(match.group('module'))
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/__init__.py", line 90, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 995, in exec_module
  File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
  File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_augmentation/python_setup_py.py", line 9, in <module>
    from colcon_python_setup_py.package_identification.python_setup_py import \
  File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 10, in <module>
    import distutils.core
ModuleNotFoundError: No module named 'distutils'

[0.844s] ERROR:colcon.colcon_core.extension_point:Exception loading extension 'colcon_core.package_augmentation.ros_ament_python': No module named 'distutils'
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 124, in load_extension_points
    extension_type = load_extension_point(name, value, group)
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_core/extension_point.py", line 165, in load_extension_point
    return EntryPoint(name, value, group).load()
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/metadata/__init__.py", line 205, in load
    module = import_module(match.group('module'))
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/importlib/__init__.py", line 90, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 995, in exec_module
  File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
  File "/usr/lib/python3/dist-packages/colcon_ros/package_augmentation/ros_ament_python.py", line 8, in <module>
    from colcon_python_setup_py.package_identification.python_setup_py \
  File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 10, in <module>
    import distutils.core
ModuleNotFoundError: No module named 'distutils'

                   
Summary: 0 packages finished [0.55s]
ya@ya-15UD:~/colcon_ws$ cd ~/colcon_ws/src/STELLA_N5_REMOTEPC_ROS2/stella_navigation2/param
bash: cd: /home/ya/colcon_ws/src/STELLA_N5_REMOTEPC_ROS2/stella_navigation2/param: No such file or directory
ya@ya-15UD:~/colcon_ws$

colcon_ws 위치에서 ls 로 어떤 디렉터리가 있는지 확인해주실 수 있나요?

a@ya-15UD:~/colcon_ws$ ls
 build  install  log  'src'$'\r'

이렇게 나옵니다.

해당 위치에서 sudo rm -r build/ install/ log/로 에러 발생했던 build 파일은 전부 지워 주시고

cd src로 src 디렉터리로 이동하신 다음

ls 로 STELLA_N5_REMOTEPC_ROS2 가 있는지 확인하여 주세요.

이동이 안되네요 ㅜㅜ
제가 원클릭 설치부터 다시 진행을 해보겠습니다.

그럼 src 디렉터리 생성이 잘못된 것 같습니다.

원클릭 설치 부터 다시 하시게 되면 중복 실행 되는 부분이 많아 오히려 문제가 발생할 수 있습니다.

ls 에서 'src'$'\r' 이렇게 표시된 것이 아마 생성에서 잘못 된 것으로 예상됩니다.

mkdir src를 colcon_ws에서 진행하시고

cd src

git clone https://github.com/ntrexlab/STELLA_N5_REMOTEPC_ROS2.git

을 순서대로 실행하여 주세요.

답답하실텐데 잘 가르쳐 주셔서 정말 감사드립니다.

git까지 진행했습니다.
그 다음은 무엇을 진행하면 될까요?

우선 파라미터 설정 먼저 진행하시면 될 것 같습니다.

cd ~/colcon_ws/src/STELLA_N5_REMOTEPC_ROS2/stella_navigation2/param 으로 해당 디렉터리로 이동 후 파라미터 파일 먼저 수정 진행하여 주시고

cd ~/colcon_ws 으로 이동하셔서 먼저 잘못 생성된 'src'$'\r' 부터 rm 명령어로 삭제하신 다음

sudo apt-get update
sudo apt-get install python3-distutils

두 명령어를 실행하셔서 이전에 나왔던 오류를 해결하기 위해 필요한 패키지를 설치하여 주시고

colcon_ws에서 colcon build 를 실행하여 주세요.

# Can change urdf file - use_realsense, use_web_cam
camera: default
~                                                                             
~                                                                             
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~                                                                             
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~                                                                             
"stella_senser.yaml" 2 lines, 68 bytes

이렇게 나오는데 파라미터 파일을 수정한다는게 어떻게 하는 것인지 잘 모르겠습니다.
그리고 저 상태에서 "cd ~/colcon_ws "이걸 어떻게 입력하죠? 터미널을 다시 열어야 하는 건가요?

vi 수정 프로그램은 초보자가 사용하기 어려우실 수 있습니다.

일단 :q 로 다시 터미널으로 복귀하신 다음

sudo apt-get install gedit -y 으로 gui 수정 툴을 설치하시고

gedit stella_senser.yaml 를 실행하시면 메모장 형식으 텍스트 수정 툴이 실행됩니다.

파라미터를 수정하여 주시고 저장하신 다음 창을 끄시면 됩니다.

이후
cd ~/colcon_ws 으로 이동하셔서 먼저 잘못 생성된 'src'$'\r' 부터 rm 명령어로 삭제하신 다음

sudo apt-get update
sudo apt-get install python3-distutils

두 명령어를 실행하셔서 이전에 나왔던 오류를 해결하기 위해 필요한 패키지를 설치하여 주시고

colcon_ws에서 colcon build 를 실행하여 주세요.

이 과정을 실행하여 주세요.

a@ya-15UD:~/colcon_ws$ sudo apt-get install python3-distutils
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Package python3-distutils is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source

E: Package 'python3-distutils' has no installation candidate
ya@ya-15UD:~/colcon_ws$

설치가 안된다고 나오네요ㅜㅜ

검색을 해보니 파이썬 3.12버전 부터 distutils 가 제거되었기 때문에 설치가 안된다고 나옵니다.
setuptools를 설치하면 된다고해서 설치를 진행했습니다.
다음으로 넘어가서 colcon build를 실행하면 될까요?

네 colcon build에서 에러가 나오지 않으면 상관 없습니다.

a@ya-15UD:~/colcon_ws$ colcon build
Starting >>> stella_cartographer
Starting >>> stella_description
Starting >>> stella_navigation2
Starting >>> stella_teleop
--- stderr: stella_cartographer                                 
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/executor/__init__.py", line 91, in __call__
    rc = await self.task(*args, **kwargs)
        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_core/task/__init__.py", line 93, in __call__
    return await task_method(*args, **kwargs)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_ros/task/ament_cmake/build.py", line 59, in build
    rc = await extension.build(
        ^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_cmake/task/cmake/build.py", line 87, in build
    rc = await self._reconfigure(args, env)
        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_cmake/task/cmake/build.py", line 173, in _reconfigure
    raise RuntimeError("Could not find 'cmake' executable")
RuntimeError: Could not find 'cmake' executable
---
Failed  <<< stella_cartographer [0.13s, exited with code 1]
--- stderr: stella_description
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/executor/__init__.py", line 91, in __call__
    rc = await self.task(*args, **kwargs)
        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_core/task/__init__.py", line 93, in __call__
    return await task_method(*args, **kwargs)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_ros/task/ament_cmake/build.py", line 59, in build
    rc = await extension.build(
        ^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_cmake/task/cmake/build.py", line 87, in build
    rc = await self._reconfigure(args, env)
        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_cmake/task/cmake/build.py", line 173, in _reconfigure
    raise RuntimeError("Could not find 'cmake' executable")
RuntimeError: Could not find 'cmake' executable
---
Failed  <<< stella_description [0.10s, exited with code 1]
--- stderr: stella_navigation2
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/executor/__init__.py", line 91, in __call__
    rc = await self.task(*args, **kwargs)
        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_core/task/__init__.py", line 93, in __call__
    return await task_method(*args, **kwargs)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_ros/task/ament_cmake/build.py", line 59, in build
    rc = await extension.build(
        ^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_cmake/task/cmake/build.py", line 87, in build
    rc = await self._reconfigure(args, env)
        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/colcon_cmake/task/cmake/build.py", line 173, in _reconfigure
    raise RuntimeError("Could not find 'cmake' executable")
RuntimeError: Could not find 'cmake' executable
---
Failed  <<< stella_navigation2 [0.08s, exited with code 1]
Aborted  <<< stella_teleop [0.05s]

Summary: 0 packages finished [0.80s]
  3 packages failed: stella_cartographer stella_description stella_navigation2
  1 package aborted: stella_teleop
  3 packages had stderr output: stella_cartographer stella_description stella_navigation2
Could not find 'cmake' executable
ya@ya-15UD:~/colcon_ws$

중간 중간 런타임에러가 뜨긴하는데 문제가 없는건지 잘 모르겠습니다.
확인 부탁드립니다

cmake가 설치되지 않은 것 같습니다.

sudo apt-get install cmake build-essential 로 설치를 진행 하신 후 다시 colcon build를 진행하여 주세요.

ya@ya-15UD:~/colcon_ws$ colcon build
Starting >>> stella_cartographer
Starting >>> stella_description
Starting >>> stella_navigation2
Starting >>> stella_teleop
--- stderr: stella_cartographer                                       
CMake Error at CMakeLists.txt:10 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed  <<< stella_cartographer [1.21s, exited with code 1]
Aborted  <<< stella_navigation2 [1.16s]
Aborted  <<< stella_description [1.18s]
Aborted  <<< stella_teleop [1.47s]                   

Summary: 0 packages finished [2.21s]
  1 package failed: stella_cartographer
  3 packages aborted: stella_description stella_navigation2 stella_teleop
  3 packages had stderr output: stella_cartographer stella_description stella_navigation2
ya@ya-15UD:~/colcon_ws$

cmake  에러가 떳습니다.
한번에 넘어가질 않네요 ㅜㅜ

해당 에러는 ros의 경로를 찾지못하여 발생하는 에러입니다.

sudo nano ~/.bashrc 를 입력하여 가장 아래쪽으로 내렸을 때

source /opt/ros/jazzy/setup.bash 가 작성되어 있는지 확인하여 주세요.

없다면 해당 줄을 입력하여 주세요.

nano는 vi와 다르게 방향키로 수정하고 싶은 위치로 이동하시면 키보드 입력으로 바로 입력이 가능합니다.

수정 종료는 ctrl + x 키로 할 수 있고 ctrl + x 후 저장 질문이 나오는 경우 y를 입력하면 저장됩니다.

# ~/.bashrc: executed by bash(1) for non-login shells.
# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
# for examples

# If not running interactively, don't do anything
case $- in
    *i*) ;;
      *) return;;
esac

# don't put duplicate lines or lines starting with space in the history.
# See bash(1) for more options
HISTCONTROL=ignoreboth

# append to the history file, don't overwrite it
shopt -s histappend

# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
HISTSIZE=1000
HISTFILESIZE=2000

# check the window size after each command and, if necessary,
# update the values of LINES and COLUMNS.
shopt -s checkwinsize

# If set, the pattern "**" used in a pathname expansion context will
# match all files and zero or more directories and subdirectories.
#shopt -s globstar
                              [ Read 117 lines ]
^G Help      ^O Write Out ^W Where Is  ^K Cut      ^T Execute  ^C Location
^X Exit      ^R Read File ^\ Replace  ^U Paste    ^J Justify  ^/ Go To Line

이렇게 되어 있습니다.
어디에 입력이 되어야 하는 것일까요?

키보드 방향키 아래키를 꾹 눌러서  더 이상 내려가지 않을 때 가장 밑에 추가하여 주시면 됩니다.

ya@ya-15UD:~/colcon_ws$ sudo nano ~/.bashrc
ya@ya-15UD:~/colcon_ws$ colcon build
Starting >>> stella_cartographer
Starting >>> stella_description
Starting >>> stella_navigation2
Starting >>> stella_teleop
--- stderr: stella_cartographer                                       
CMake Error at CMakeLists.txt:10 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed  <<< stella_cartographer [0.49s, exited with code 1]
Aborted  <<< stella_description [0.47s]
Aborted  <<< stella_navigation2 [0.44s]
Aborted  <<< stella_teleop [0.92s]                   

Summary: 0 packages finished [1.67s]
  1 package failed: stella_cartographer
  3 packages aborted: stella_description stella_navigation2 stella_teleop
  3 packages had stderr output: stella_cartographer stella_description stella_navigation2
ya@ya-15UD:~/colcon_ws$

다시 에러가 떴습니다.
울고 싶네요 ㅜㅜ

수정 후에 source ~/.bashrc 를 입력하여 주셔야 해당 설정이 반영됩니다.

a@ya-15UD:~/colcon_ws$ sudo nano ~/.bashrc
ya@ya-15UD:~/colcon_ws$ source ~/.bashrc
bash: /opt/ros/jazzy/setup.bash: No such file or directory
ya@ya-15UD:~/colcon_ws$

이렇게 파일이나 디렉토리가 없다고 뜨네요

그렇다면 ros 설치가 제대로 되지 않은 것 같습니다.

아래 명령어를 홈디렉터리에서 실행하시어 ros 를 설치하여 주세요.
wget https://raw.githubusercontent.com/ntrexlab/ROS_INSTALL_SCRIPT/main/install_ros2_jazzy.sh && chmod 755 ./install_ros2_jazzy.sh && bash ./install_ros2_jazzy.sh

ya@ya-15UD:~$ wget https://raw.githubusercontent.com/ntrexlab/ROS_INSTALL_SCRIPT/main/install_ros2_jazzy.sh && chmod 755 ./install_ros2_jazzy.sh && bash ./install_ros2_jazzy.sh
--2025-09-26 14:10:13--  https://raw.githubusercontent.com/ntrexlab/ROS_INSTALL_SCRIPT/main/install_ros2_jazzy.sh
Resolving raw.githubusercontent.com (raw.githubusercontent.com)... 185.199.110.133, 185.199.109.133, 185.199.108.133, ...
Connecting to raw.githubusercontent.com (raw.githubusercontent.com)|185.199.110.133|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: 1799 (1.8K) [text/plain]
Saving to: ‘install_ros2_jazzy.sh.1’

install_ros2_jazzy. 100%[===================>]  1.76K  --.-KB/s    in 0s     

2025-09-26 14:10:13 (4.20 MB/s) - ‘install_ros2_jazzy.sh.1’ saved [1799/1799]

./install_ros2_jazzy.sh: line 4: $'\r': command not found

PRESS [ENTER] TO CONTINUE THE INSTALLATION
IF YOU WANT TO CANCEL, PRESS [CTRL] + [C]
./install_ros2_jazzy.sh: line 8: $'read\r': command not found
./install_ros2_jazzy.sh: line 9: $'\r': command not found
Hit:1 http://kr.archive.ubuntu.com/ubuntu noble InRelease
Hit:2 http://kr.archive.ubuntu.com/ubuntu noble-updates InRelease             
Hit:3 http://kr.archive.ubuntu.com/ubuntu noble-backports InRelease           
Hit:4 http://security.ubuntu.com/ubuntu noble-security InRelease
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
65 packages can be upgraded. Run 'apt list --upgradable' to see them.
E: Command line option '
  ' [from -y
  ] is not understood in combination with the other options.
./install_ros2_jazzy.sh: line 12: $'\r': command not found
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package software-properties-common
./install_ros2_jazzy.sh: line 15: $'\r': command not found
' is not a supported language or locale
./install_ros2_jazzy.sh: line 20: $'\r': command not found
Adding component(s) 'universe' to all repositories.
Press [ENTER] to continue or Ctrl-c to cancel.
Hit:1 http://kr.archive.ubuntu.com/ubuntu noble InRelease
Hit:2 http://kr.archive.ubuntu.com/ubuntu noble-updates InRelease
Hit:3 http://kr.archive.ubuntu.com/ubuntu noble-backports InRelease
Hit:4 http://security.ubuntu.com/ubuntu noble-security InRelease
Reading package lists... Done
./install_ros2_jazzy.sh: line 23: $'\r': command not found
sudo: curl: command not found
./install_ros2_jazzy.sh: line 26: $'\r': command not found
: Permission deniedy.sh: line 28: /dev/null
./install_ros2_jazzy.sh: line 29: $'\r': command not found
E: Invalid operation update
./install_ros2_jazzy.sh: line 32: $'\r': command not found
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package ros-dev-tools
./install_ros2_jazzy.sh: line 35: $'\r': command not found
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package ros-jazzy-desktop
./install_ros2_jazzy.sh: line 38: $'\r': command not found
./install_ros2_jazzy.sh: line 40: $'\r': command not found
./install_ros2_jazzy.sh: line 45: $'\r': command not found
./install_ros2_jazzy.sh: line 49: $'\r': command not found
: line 4: /opt/ros/jazzy/setup.bash: No such file or directory
: line 9: /opt/ros/jazzy/setup.bash: No such file or directory
./install_ros2_jazzy.sh: line 52: $'\r': command not found
ROS 2 Jazzy Desktop installation completed successfully!
ya@ya-15UD:~$

설치를 했는데 먼가 발견되지 않은 것이 많이 나오네요. 이상이 없는 것인가요?
아니면 우븐트를 새로 설치를 해볼까요? 다 포멧시키고요. 이게 더 빠를 것 같다는 생각도 듭니다.

이건 한 줄 설치 파일이 일부 잘못 작성되어서 그런 것 같습니다.

홈 디렉터리에 install_ros.sh 파일을 생성하시고 해당 파일을 수정툴(gedit, nano)으로 실행하시어 아래 내용을 작성하여 주세요.

#!/bin/bash
# Apache License 2.0
# Copyright (c) 2025, NTREX CO., LTD.

echo ""
echo "PRESS [ENTER] TO CONTINUE THE INSTALLATION"
echo "IF YOU WANT TO CANCEL, PRESS [CTRL] + [C]"
read

# Update and upgrade the system
sudo apt update && sudo apt upgrade -y

# Install essential packages
sudo apt install -y net-tools openssh-server git curl locales software-properties-common

# Generate locale settings
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

# Add universe repository
sudo add-apt-repository universe

# Add ROS repository key
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

# Add the ROS2 repository to sources list
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

# Update package list again
sudo apt update

# Install ROS development tools
sudo apt install -y ros-dev-tools

# Install ROS Jazzy Desktop version
sudo apt install -y ros-jazzy-desktop

mkdir -p ~/colcon_ws/src

# Add helpful aliases to ~/.bashrc
echo "alias nb='nano ~/.bashrc'" >> ~/.bashrc
echo "alias sb='source ~/.bashrc'" >> ~/.bashrc
echo "alias cb='cd ~/colcon_ws && colcon build --symlink-install && source ~/.bashrc'" >> ~/.bashrc

# Source ROS Jazzy setup and workspace setup
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
echo "source ~/colcon_ws/install/local_setup.bash" >> ~/.bashrc

# Source the new .bashrc to apply changes
source ~/.bashrc

echo "ROS 2 Jazzy Desktop installation completed successfully!"

이 후에 sudo sh install_ros.sh && chmod 755 ./install_ros2_jazzy.sh && bash ./install_ros2_jazzy.sh 명령어를 사용하여 주시면 한줄 설치와 동일하게 작동할 것입니다.

ya@ya-15UD:~$ install_ros.sh
install_ros.sh: command not found
ya@ya-15UD:~$

이렇게 나옵니다.

install_ros.sh 파일을 수정툴으로 만들어 주셔야 합니다.

install_ros.sh 파일을 수정툴으로 만들고 저장 한 후에
sudo sh install_ros.sh && chmod 755 ./install_ros2_jazzy.sh && bash ./install_ros2_jazzy.sh 명령어를 사용하여 설치 했습니다. 감사합니다

이 다음에는 무엇을 해야 하는 건가요?
매개변수 설정을 다시 진행하면 되는 것인가요?

source ~/.bashrc로 설정 적용하신 후
colcon_ws에서 colcon build 실행하시면 됩니다.

ya@ya-15UD:~$ source ~/.bashrc
bash: /opt/ros/jazzy/setup.bash: No such file or directory
ya@ya-15UD:~$

여전히 안되네요 ㅜㅜ

sudo sh install_ros.sh && chmod 755 ./install_ros2_jazzy.sh && bash ./install_ros2_jazzy.sh 명령어에서 확인하지 못한 오류가 발생했을 수 있습니다.

일단 저희가 한 줄 설치 명령어를 수정 진행하여서 다시 아래 명령어를 실행하여서 문제가 있는지 확인하여 주세요.
wget https://raw.githubusercontent.com/ntrexlab/ROS_INSTALL_SCRIPT/main/install_ros2_jazzy.sh && chmod 755 ./install_ros2_jazzy.sh && bash ./install_ros2_jazzy.sh

ya@ya-15UD:~$ wget https://raw.githubusercontent.com/ntrexlab/ROS_INSTALL_SCRIPT/main/install_ros2_jazzy.sh && chmod 755 ./install_ros2_jazzy.sh && bash ./install_ros2_jazzy.sh
--2025-09-26 16:11:02--  https://raw.githubusercontent.com/ntrexlab/ROS_INSTALL_SCRIPT/main/install_ros2_jazzy.sh
Resolving raw.githubusercontent.com (raw.githubusercontent.com)... 185.199.109.133, 185.199.110.133, 185.199.111.133, ...
Connecting to raw.githubusercontent.com (raw.githubusercontent.com)|185.199.109.133|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: 1746 (1.7K) [text/plain]
Saving to: ‘install_ros2_jazzy.sh.2’

install_ros2_jazzy. 100%[===================>]  1.71K  --.-KB/s    in 0s     

2025-09-26 16:11:03 (4.04 MB/s) - ‘install_ros2_jazzy.sh.2’ saved [1746/1746]

./install_ros2_jazzy.sh: line 4: $'\r': command not found

PRESS [ENTER] TO CONTINUE THE INSTALLATION
IF YOU WANT TO CANCEL, PRESS [CTRL] + [C]
./install_ros2_jazzy.sh: line 8: $'read\r': command not found
./install_ros2_jazzy.sh: line 9: $'\r': command not found
[sudo] password for ya:
Hit:1 http://kr.archive.ubuntu.com/ubuntu noble InRelease
Hit:2 http://kr.archive.ubuntu.com/ubuntu noble-updates InRelease             
Hit:3 http://kr.archive.ubuntu.com/ubuntu noble-backports InRelease           
Hit:4 http://packages.ros.org/ros2/ubuntu noble InRelease                     
Get:5 http://security.ubuntu.com/ubuntu noble-security InRelease [126 kB]
Get:6 http://security.ubuntu.com/ubuntu noble-security/main amd64 Components [21.5 kB]
Get:7 http://security.ubuntu.com/ubuntu noble-security/restricted amd64 Components [212 B]
Get:8 http://security.ubuntu.com/ubuntu noble-security/universe amd64 Components [52.3 kB]
Get:9 http://security.ubuntu.com/ubuntu noble-security/multiverse amd64 Components [208 B]
Fetched 200 kB in 3s (59.4 kB/s) 
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
22 packages can be upgraded. Run 'apt list --upgradable' to see them.
E: Command line option '
  ' [from -y
  ] is not understood in combination with the other options.
./install_ros2_jazzy.sh: line 12: $'\r': command not found
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package software-properties-common
./install_ros2_jazzy.sh: line 15: $'\r': command not found
' is not a supported language or locale
./install_ros2_jazzy.sh: line 20: $'\r': command not found
Adding component(s) 'universe' to all repositories.
Press [ENTER] to continue or Ctrl-c to cancel.
Hit:1 http://kr.archive.ubuntu.com/ubuntu noble InRelease
Hit:2 http://kr.archive.ubuntu.com/ubuntu noble-updates InRelease             
Hit:3 http://kr.archive.ubuntu.com/ubuntu noble-backports InRelease           
Hit:4 http://packages.ros.org/ros2/ubuntu noble InRelease                     
Hit:5 http://security.ubuntu.com/ubuntu noble-security InRelease
Reading package lists... Done
./install_ros2_jazzy.sh: line 23: $'\r': command not found
./install_ros2_jazzy.sh: line 26: $'\r': command not found
: Permission deniedy.sh: line 28: /dev/null
./install_ros2_jazzy.sh: line 29: $'\r': command not found
E: Invalid operation update
./install_ros2_jazzy.sh: line 32: $'\r': command not found
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package ros-dev-tools
./install_ros2_jazzy.sh: line 35: $'\r': command not found
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package ros-jazzy-desktop
./install_ros2_jazzy.sh: line 38: $'\r': command not found
./install_ros2_jazzy.sh: line 40: $'\r': command not found
./install_ros2_jazzy.sh: line 45: $'\r': command not found
./install_ros2_jazzy.sh: line 49: $'\r': command not found
: line 4: /opt/ros/jazzy/setup.bash: No such file or directory
: line 9: /opt/ros/jazzy/setup.bash: No such file or directory
: line 14: /opt/ros/jazzy/setup.bash: No such file or directory
: line 19: /opt/ros/jazzy/setup.bash: No such file or directory
./install_ros2_jazzy.sh: line 52: $'\r': command not found
ROS 2 Jazzy Desktop installation completed successfully!
ya@ya-15UD:~$

다시 문제가 생겼네요 ㅜㅜ

수정 이후에도 동일하게 문제가 생긴다면 한 줄 설치가 제대로 인식되지 못하는 환경인 것 같습니다.

매뉴얼의 원격 PC 설정에서 "Ubuntu가 설치된 원격 PC에서 ROS2 설치하기" 부터 따라 실행하시어 ros를 직접 설치하셔 주셔야 할 것 같습니다.

ya@ya-15UD:~$ sudo apt install ros-jazzy-desktop
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
You might want to run 'apt --fix-broken install' to correct these.
The following packages have unmet dependencies:
 python3-rosdep-modules : Depends: python3-catkin-pkg-modules (>= 0.4.0) but it is not going to be installed
 python3-rosdistro-modules : Depends: python3-catkin-pkg-modules but it is not going to be installed
 python3-rospkg-modules : Depends: python3-catkin-pkg-modules but it is not going to be installed
 ros-jazzy-desktop : Depends: ros-jazzy-action-tutorials-cpp but it is not going to be installed
                    Depends: ros-jazzy-action-tutorials-interfaces but it is not going to be installed
                    Depends: ros-jazzy-action-tutorials-py but it is not going to be installed
                    Depends: ros-jazzy-angles but it is not going to be installed
                    Depends: ros-jazzy-composition but it is not going to be installed
                    Depends: ros-jazzy-demo-nodes-cpp but it is not going to be installed
                    Depends: ros-jazzy-demo-nodes-cpp-native but it is not going to be installed
                    Depends: ros-jazzy-demo-nodes-py but it is not going to be installed
                    Depends: ros-jazzy-depthimage-to-laserscan but it is not going to be installed
                    Depends: ros-jazzy-dummy-map-server but it is not going to be installed
                    Depends: ros-jazzy-dummy-robot-bringup but it is not going to be installed
                    Depends: ros-jazzy-dummy-sensors but it is not going to be installed
                    Depends: ros-jazzy-examples-rclcpp-minimal-action-client but it is not going to be installed
                    Depends: ros-jazzy-examples-rclcpp-minimal-action-server but it is not going to be installed
                    Depends: ros-jazzy-examples-rclcpp-minimal-client but it is not going to be installed
                    Depends: ros-jazzy-examples-rclcpp-minimal-composition but it is not going to be installed
                    Depends: ros-jazzy-examples-rclcpp-minimal-publisher but it is not going to be installed
                    Depends: ros-jazzy-examples-rclcpp-minimal-service but it is not going to be installed
                    Depends: ros-jazzy-examples-rclcpp-minimal-subscriber but it is not going to be installed
                    Depends: ros-jazzy-examples-rclcpp-minimal-timer but it is not going to be installed
                    Depends: ros-jazzy-examples-rclcpp-multithreaded-executor but it is not going to be installed
                    Depends: ros-jazzy-examples-rclpy-executors but it is not going to be installed
                    Depends: ros-jazzy-examples-rclpy-minimal-action-client but it is not going to be installed
                    Depends: ros-jazzy-examples-rclpy-minimal-action-server but it is not going to be installed
                    Depends: ros-jazzy-examples-rclpy-minimal-client but it is not going to be installed
                    Depends: ros-jazzy-examples-rclpy-minimal-publisher but it is not going to be installed
                    Depends: ros-jazzy-examples-rclpy-minimal-service but it is not going to be installed
                    Depends: ros-jazzy-examples-rclpy-minimal-subscriber but it is not going to be installed
                    Depends: ros-jazzy-image-tools but it is not going to be installed
                    Depends: ros-jazzy-intra-process-demo but it is not going to be installed
                    Depends: ros-jazzy-joy but it is not going to be installed
                    Depends: ros-jazzy-lifecycle but it is not going to be installed
                    Depends: ros-jazzy-logging-demo but it is not going to be installed
                    Depends: ros-jazzy-pcl-conversions but it is not going to be installed
                    Depends: ros-jazzy-pendulum-control but it is not going to be installed
                    Depends: ros-jazzy-pendulum-msgs but it is not going to be installed
                    Depends: ros-jazzy-quality-of-service-demo-cpp but it is not going to be installed
                    Depends: ros-jazzy-quality-of-service-demo-py but it is not going to be installed
                    Depends: ros-jazzy-ros-base but it is not going to be installed
                    Depends: ros-jazzy-rqt-common-plugins but it is not going to be installed
                    Depends: ros-jazzy-rviz-default-plugins but it is not going to be installed
                    Depends: ros-jazzy-rviz2 but it is not going to be installed
                    Depends: ros-jazzy-teleop-twist-joy but it is not going to be installed
                    Depends: ros-jazzy-teleop-twist-keyboard but it is not going to be installed
                    Depends: ros-jazzy-tlsf but it is not going to be installed
                    Depends: ros-jazzy-tlsf-cpp but it is not going to be installed
                    Depends: ros-jazzy-topic-monitor but it is not going to be installed
                    Depends: ros-jazzy-turtlesim but it is not going to be installed
                    Depends: ros-jazzy-ros-workspace but it is not going to be installed
E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution).
ya@ya-15UD:~$

너무나 어렵군요 왜 저만 이리도 어려운건지~~ ㅜㅜ

이전에 설치 실패로 오류가 발생하는 파일이 남은 것 같습니다.

sudo apt --fix-broken install 명령어를 실행한 후 오류가 발생한 명령어를 다시 실행하여 주시면 됩니다.

ya@ya-15UD:~$ sudo apt --fix-broken install
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Correcting dependencies... Done
The following package was automatically installed and is no longer required:
  libllvm19
Use 'sudo apt autoremove' to remove it.
The following additional packages will be installed:
  python3-catkin-pkg-modules
The following NEW packages will be installed:
  python3-catkin-pkg-modules
0 upgraded, 1 newly installed, 0 to remove and 22 not upgraded.
38 not fully installed or removed.
Need to get 0 B/43.3 kB of archives.
After this operation, 259 kB of additional disk space will be used.
Do you want to continue? [Y/n] y
(Reading database ... 206639 files and directories currently installed.)
Preparing to unpack .../python3-catkin-pkg-modules_1.1.0-2_all.deb ...
Unpacking python3-catkin-pkg-modules (1.1.0-2) ...
dpkg: error processing archive /var/cache/apt/archives/python3-catkin-pkg-module
s_1.1.0-2_all.deb (--unpack):
 trying to overwrite '/usr/lib/python3/dist-packages/catkin_pkg/__init__.py', wh
ich is also in package python3-catkin-pkg 1.0.0-2
Errors were encountered while processing:
 /var/cache/apt/archives/python3-catkin-pkg-modules_1.1.0-2_all.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)
ya@ya-15UD:~$

에러가 발생되었습니다.
E 드라이브에서도 에러가 발생이 되었다고 나오네요

패키지 설치 경로에서 충돌이 발생하였다는 에러인 것으로 확인 됩니다.

sudo dpkg -i --force-overwrite /var/cache/apt/archives/python3-catkin-pkg-modules_1.1.0-2_all.deb

명령어를 사용하셔서 충돌을 제거하시고

sudo apt --fix-broken install 를 다시 실행하여 주세요.

그리고 sudo apt autoremove 를 실행 후

다시 sudo apt install ros-jazzy-desktop 를 실행하면 됩니다.

안녕하세요.
추가 질문 있습니다.

ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener

설치를 진행하면서 이 명령어를 입력하고 ROS2 설치테스트를 하라고 되어 있어서 진행을 하고 있는데
지난주 토요일 부터 끝나질 않고 있습니다.

[INFO] [1759276569.687131891] [talker]: publishing: 'Hello World: 342930'

이렇게 숫자가 34만번을 넘어가면서도 멈추질 않고 있습니다.
계속 둬야 하는 것인가요? 아니면 멈추고 다음 설치를 이어 가야 하는 것인가요?
멈춰야 한다면 멈추는 방법도 좀 설명 부탁드립니다.

안녕하세요.

리눅스 터미널에서는 ctrl + c가 종료 명령어 입니다.

일반적으로 ros node는 외부 입력이 없는 경우 종료되지 않는 것이 정상입니다.

그럼 종료를 하고 다음 설치를 하면 된다는 것이지요?
괜히 계속 기다리고 있었네요 ㅜㅜ

네 맞습니다.

[stella_md_node-3]
[stella_md_node-3] [  MotorControlProductInfomaions  ]
[stella_md_node-3]
[stella_md_node-3] device_id : 1
[stella_md_node-3] prouct_id : 102
[stella_md_node-3] software_version  : 1.09
[stella_md_node-3] hardware_version  : 1.00
[stella_md_node-3] RS232_Baudrate    : 115200
[stella_md_node-3] USB_Baudrate      : 115200
[stella_md_node-3] CAN_Bitlate        : 1000
[stella_md_node-3]
[stella_md_node-3]
[stella_md_node-3] [  Motor_Configuration  ]
[stella_md_node-3]
[stella_md_node-3] min_position      --->  Motor1 :  -1000000                    , Motor2 :  -1000000
[stella_md_node-3] max_position      --->  Motor1 :    1000000                    , Motor2 :    1000000
[stella_md_node-3]
[stella_md_node-3] encoder_ppr        --->  Motor1 :      2000                    , Motor2 :      2000
[stella_md_node-3] Acceleration      --->  Motor1 :  3000.0000                    , Motor2 :  3000.0000
[stella_md_node-3] Deceleration      --->  Motor1 :  3000.0000                    , Motor2 :  3000.0000
[stella_md_node-3]
[stella_md_node-3] Max_current        --->  Motor1 :    2.0000                    , Motor2 :    2.0000
[stella_md_node-3] Max_voltage        --->  Motor1 :    20.0000                    , Motor2 :    20.0000
[stella_md_node-3] Max_velocity      --->  Motor1 :  3000.0000                    , Motor2 :  3000.0000
[stella_md_node-3] overvoltage_limit  --->  Motor1 :    30.0000                    , Motor2 :    30.0000
[stella_md_node-3] undervoltage_limit --->  Motor1 :    8.0000                    , Motor2 :    8.0000
[stella_md_node-3] overcurrent_limit  --->  Motor1 :    3.0000                    , Motor2 :    3.0000
[stella_md_node-3] direction          --->  Motor1 : Reverse_Direction            , Motor2 : Not_Change
[stella_md_node-3] velocity_p_gain    --->  Motor1 :    1.3000                    , Motor2 :    1.3000
[stella_md_node-3] velocity_i_gain    --->  Motor1 :    0.0020                    , Motor2 :    0.0020
[stella_md_node-3]
[stella_md_node-3] wheel_radius      : 0.087500
[stella_md_node-3] axle_length        : 0.360000
[stella_md_node-3] gear_ratio        : 51.000000
[stella_md_node-3]
[stella_md_node-3] ---------------------------------------------------------------------------------------------------------
[stella_md_node-3]
[stella_md_node-3] [MotorDriver INFO] PortName : /dev/MW Connect OK
[stella_md_node-3]
[stella_md_node-3] [MotorDriver INFO] NTREX MotorDriver RUN ....
[stella_md_node-3]
[sllidar2_node-6] [INFO] [1759301969.731582548] [sllidar2_node]: current scan mode: Standard, sample rate: 5 Khz, max_distance: 16.0 m, scan frequency:10.0 Hz,
[sllidar_node-5] [INFO] [1759301969.744769523] [sllidar_node]: current scan mode: Standard, sample rate: 5 Khz, max_distance: 16.0 m, scan frequency:10.0 Hz,
[stella_md_node-3]
[stella_md_node-3] [MotorDriver INFO] STELLA N5 Robot Setting OK
[stella_md_node-3]
[stella_ahrs_node-4] [INFO] [1759301973.905637324] [stella_ahrs_node]: product_id  : 5011
[stella_ahrs_node-4]
[stella_ahrs_node-4] [INFO] [1759301973.905790036] [stella_ahrs_node]: software_ver : 500
[stella_ahrs_node-4]
[stella_ahrs_node-4] [INFO] [1759301973.905805630] [stella_ahrs_node]: hardware_ver : 400
[stella_ahrs_node-4]
[stella_ahrs_node-4] [INFO] [1759301973.905815500] [stella_ahrs_node]: function_ver : 15
[stella_ahrs_node-4]
[stella_ahrs_node-4] Set Error : [33], [18] index mismatch
[stella_ahrs_node-4] Set Error : [34], [19] index mismatch
[stella_ahrs_node-4] Set Error : [35], [15] index mismatch
[stella_ahrs_node-4] [INFO] [1759301973.998719110] [stella_ahrs_node]: MW-AHRS ROS Init Fail


어찌어찌 넘어와서 구동테스트를 해보려고 하는데 에러가 뜨네요.
터미널을 열어서 키보드 조정을 해도 움직이질 않고요 ㅜㅜ

bringup launch를 재 실행했을 때도 동일한 에러가 발생하는지 확인하여주세요.

그리고 bringup 실행 후 원격PC에서 ros2 topic list 명령어를 입력하여 로봇이 발행하는 ros2 topic이 표시되는지 확인해주세요.

제가 정말로 왕 초보라서 명령어를 어떻게 입력하는지를 알려주셔야 확인이 가능합니다.
귀찮으시더라도 자세히 좀 설명 부탁드리겠습니다. 감사합니다.

터미널에 입력해 주시면 됩니다.

ya@ya-15UD:~$ bringup launch
bringup: command not found

이렇게 뜹니다

bringup launch는 ros2 launch stella_bringup robot.launch.py 명령어를 얘기한 것입니다.

터미널에 입력하여 주셔야 하는 명령어는 ros2 topic list 입니다.

[stella_md_node-3]
[stella_md_node-3] [  MotorControlProductInfomaions  ]
[stella_md_node-3]
[stella_md_node-3] device_id : 1
[stella_md_node-3] prouct_id : 102
[stella_md_node-3] software_version  : 1.09
[stella_md_node-3] hardware_version  : 1.00
[stella_md_node-3] RS232_Baudrate    : 115200
[stella_md_node-3] USB_Baudrate      : 115200
[stella_md_node-3] CAN_Bitlate        : 1000
[stella_md_node-3]
[stella_md_node-3]
[stella_md_node-3] [  Motor_Configuration  ]
[stella_md_node-3]
[stella_md_node-3] min_position      --->  Motor1 :  -1000000                    , Motor2 :  -1000000
[stella_md_node-3] max_position      --->  Motor1 :    1000000                    , Motor2 :    1000000
[stella_md_node-3]
[stella_md_node-3] encoder_ppr        --->  Motor1 :      2000                    , Motor2 :      2000
[stella_md_node-3] Acceleration      --->  Motor1 :  3000.0000                    , Motor2 :  3000.0000
[stella_md_node-3] Deceleration      --->  Motor1 :  3000.0000                    , Motor2 :  3000.0000
[stella_md_node-3]
[stella_md_node-3] Max_current        --->  Motor1 :    2.0000                    , Motor2 :    2.0000
[stella_md_node-3] Max_voltage        --->  Motor1 :    20.0000                    , Motor2 :    20.0000
[stella_md_node-3] Max_velocity      --->  Motor1 :  3000.0000                    , Motor2 :  3000.0000
[stella_md_node-3] overvoltage_limit  --->  Motor1 :    30.0000                    , Motor2 :    30.0000
[stella_md_node-3] undervoltage_limit --->  Motor1 :    8.0000                    , Motor2 :    8.0000
[stella_md_node-3] overcurrent_limit  --->  Motor1 :    3.0000                    , Motor2 :    3.0000
[stella_md_node-3] direction          --->  Motor1 : Reverse_Direction            , Motor2 : Not_Change
[stella_md_node-3] velocity_p_gain    --->  Motor1 :    1.3000                    , Motor2 :    1.3000
[stella_md_node-3] velocity_i_gain    --->  Motor1 :    0.0020                    , Motor2 :    0.0020
[stella_md_node-3]
[stella_md_node-3] wheel_radius      : 0.087500
[stella_md_node-3] axle_length        : 0.360000
[stella_md_node-3] gear_ratio        : 51.000000
[stella_md_node-3]
[stella_md_node-3] ---------------------------------------------------------------------------------------------------------
[stella_md_node-3]
[stella_md_node-3] [MotorDriver INFO] PortName : /dev/MW Connect OK
[stella_md_node-3]
[stella_md_node-3] [MotorDriver INFO] NTREX MotorDriver RUN ....
[stella_md_node-3]
[sllidar2_node-6] [INFO] [1759305506.256342117] [sllidar2_node]: current scan mode: Standard, sample rate: 5 Khz, max_distance: 16.0 m, scan frequency:10.0 Hz,
[sllidar_node-5] [INFO] [1759305506.260841756] [sllidar_node]: current scan mode: Standard, sample rate: 5 Khz, max_distance: 16.0 m, scan frequency:10.0 Hz,
[stella_md_node-3]
[stella_md_node-3] [MotorDriver INFO] STELLA N5 Robot Setting OK
[stella_md_node-3]
[stella_ahrs_node-4] [INFO] [1759305510.456527131] [stella_ahrs_node]: product_id  : 5011
[stella_ahrs_node-4]
[stella_ahrs_node-4] [INFO] [1759305510.456665281] [stella_ahrs_node]: software_ver : 500
[stella_ahrs_node-4]
[stella_ahrs_node-4] [INFO] [1759305510.456678670] [stella_ahrs_node]: hardware_ver : 400
[stella_ahrs_node-4]
[stella_ahrs_node-4] [INFO] [1759305510.456688410] [stella_ahrs_node]: function_ver : 15
[stella_ahrs_node-4]
[stella_ahrs_node-4] [INFO] [1759305511.539736484] [stella_ahrs_node]: MW-AHRS ROS Init Success


껏다가 다시 켜서 해보니 이렇게 에러가 사라졌습니다.
터미널을 하나 열어서 구동을 해보는데 로봇이 움직이질 않습니다.
터미널(2)에서 w, a, s, d를 누르면서 로봇을 이동 시키는 것 아닌가요?

원격 PC의 터미널에서 ros2 run stella_teleop teleop_keyboard 를 입력하신 다음 키보드 키를 입력하여 주셔야 합니다.

입력하고서 눌러보는데도 움직이질 않네요

ros2 topic list 명령어를 입력하셨을 때는 어떤 로그가 나오나요?

ya@ya-15UD:~$ ros2 topic list
/parameter_events
/rosout
ya@ya-15UD:~$

이렇게 나옵니다

원격 PC와 STELLA N5의 라즈베리파이 사이에서 ros 통신이 되고 있지 않은 것으로 예상됩니다.

라즈베리파이의 터미널과 원격 PC의 터미널에서 각각 ~/.bashrc 파일을 수정하여 주셔야 합니다.

지난주에 수정하셨던 것처럼 sudo nano ~/.bashrc 를 사용하시면 됩니다.

각 터미널에서 nano 수정툴으로 ~/.bashrc 파일을 여시고 export ROS_DOMAIN_ID=번호 가 있는지 확인하여 주세요.

라즈베리파이에는 작성되어 있을 수 있습니다.

작성되어 있다면 원격PC의 ~/.bashrc에 동일하게 작성하여 저장해 주세요.

없다면 export ROS_DOMAIN_ID=27 처럼 0~232 사이의 값을 똑같은 번호로 각각 작성하여 주시면 됩니다.

작성이 완료되면 source ~/.bashrc를 각 터미널에서 실행하여 주시고

라즈베리파이의 터미널에서는 ros2 launch stella_bringup robot.launch.py를 실행하시고

원격 PC의 터미널에서는 ros2 topic list를 실행하셔서 이전 결과와 다른지 확인하여 주세요.

ya@ya-15UD:~$ ros2 topic list
/cmd_vel
/imu/data
/imu/data_raw
/imu/mag
/imu/yaw
/joint_states
/odom
/parameter_events
/robot_description
/rosout
/scan
/scan_2
/scan_filtered
/stella_ahrs_node/transition_event
/stella_md_node/transition_event
/tf
/tf_static
ya@ya-15UD:~$

라즈베리파이 터미널에서 또 에러가 떠서 껏다가 다시 해본다는게 늦었네요.
현재는 이렇게 나옵니다.
잘 되는 거겠죠?

운행이 됩니다!!!
대박입니다 ㅎㅎ 감사합니다!!

ya@ya-15UD:~$ ssh pi@192.168.0.4
ssh: connect to host 192.168.0.4 port 22: No route to host

어제는 잘 들어가졌었는데 오늘 SLAM 테스트 좀 해보려니 이렇게 뜨네요
또 무엇이 문제일까요? ㅜㅜ

ifconfig를 눌러서 확인되는 192.168.0.8을 눌러봤더니 이건 아래와 같이 나와요.
기본 비밀번호가 1이 맞지 않나요?
ya@ya-15UD:~$ ssh pi@192.168.0.8
pi@192.168.0.8's password:
Permission denied, please try again.
pi@192.168.0.8's password:
Permission denied, please try again.
pi@192.168.0.8's password:
pi@192.168.0.8: Permission denied (publickey,password).

산넘어 산이네요 ㅜㅜ

안녕하세요.

와이파이를 통하여 네트워크에 연결하는 경우 네트워크에 열결을 해제한 뒤 재 접속하면 ip가 변경될 수 있어 이러한 경우 ip 재 확인이 필요합니다.

네트워크에 연결되어 있는지 확인하고 싶으시다면 원격PC의 터미널에서 ping 192.168.0.4 명령어로 해당 ip로 핑을 날려 해당 ip와 네트워크 연결이 되어있는지 확인하실 수 있습니다.

ya@ya-15UD:~$ ping 192.168.0.4
PING 192.168.0.4 (192.168.0.4) 56(84) bytes of data.
From 192.168.0.8 icmp_seq=1 Destination Host Unreachable
From 192.168.0.8 icmp_seq=2 Destination Host Unreachable
From 192.168.0.8 icmp_seq=3 Destination Host Unreachable
^C
--- 192.168.0.4 ping statistics ---
6 packets transmitted, 0 received, +3 errors, 100% packet loss, time 5106ms
pipe 4
ya@ya-15UD:~$

이런식으로 나옵니다.
192.198.0.8에서는 ping이 제대로 작동 됩니다.

이럴때는 라즈베리파이에 다시 접속해서 매개변수 설정을 다시 해줘야 하는 것인가요?

192.168.0.8 주소는 FROM으로 나오는 것을 보았을 때 원격PC의 ip 주소로 확인되고 192.168.0.4 ip는 네트워크 접속이 되지 않고 있는 것으로 보입니다.

라즈베리파이의 ip 주소가 변경된 것으로 예상되어 라즈베리파이를 모니터에 연결하시어 ip를 확인하시거나 와이파이 공유기의 관리자 페이지에서 ip를 확인하여 주셔야 할 것 같습니다.

slam 까지 진행하고 지도 mapping까지 했습니다.
네이게이션 진행을 해보는데 위치는 뜨는데 네비게이션은 inactive, Feedback은 unknown이라고 나옵니다.
그래서 목적지를 지정해서 이동을 할 수가 없네요.
두번 시도를 해봤는데도 다 이렇게 나옵니다.

이때는 어떻게 해야 하는 것인지 도움 부탁드립니다!!^^

정확하게 어떤 상황인지 파악 되지 않아서 해당 부분을 캡쳐하여 올려 주실 수 있으실까요?