报错咨询

[JKK-dr]

fatal error: carla_msgs/msg/carla_ego_vehicle_control.hpp: 没有那个文件或目录 12 | #include "carla_msgs/msg/carla_ego_vehicle_control.hpp" 您好，我克隆后运行colcon build出现了该错误，我需要怎么解决呢？

[JKK-dr]

已解决

[JKK-dr]

运行ros2 launch carla_ad_demo carla_ad_demo.launch.py 报错: [INFO] [launch]: All log files can be found below /home/polaris/.ros/log/2024-07-04-22-43-42-614967-polaris-54905 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [bridge-1]: process started with pid [54907] [INFO] [carla_spawn_objects-2]: process started with pid [54909] [INFO] [set_initial_pose-3]: process started with pid [54911] [INFO] [carla_waypoint_publisher-8]: process started with pid [54921] [INFO] [carla_manual_control-9]: process started with pid [54923] [INFO] [topic_pub_target_speed-4]: process started with pid [54913] [INFO] [ad_agent-5]: process started with pid [54915] [INFO] [planning_agent-6]: process started with pid [54917] [INFO] [control_agent-7]: process started with pid [54919] [INFO] [rviz2-10]: process started with pid [54925]

[bridge-1] Traceback (most recent call last): [bridge-1] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_ros_bridge/lib/carla_ros_bridge/bridge", line 11, in [bridge-1] load_entry_point('carla-ros-bridge==0.0.0', 'console_scripts', 'bridge')() [bridge-1] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point [bridge-1] return get_distribution(dist).load_entry_point(group, name) [bridge-1] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point [bridge-1] return ep.load() [bridge-1] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load [carla_waypoint_publisher-8] Traceback (most recent call last): [carla_waypoint_publisher-8] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_waypoint_publisher/lib/carla_waypoint_publisher/carla_waypoint_publisher", line 11, in [carla_waypoint_publisher-8] load_entry_point('carla-waypoint-publisher==0.0.0', 'console_scripts', 'carla_waypoint_publisher')() [carla_waypoint_publisher-8] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point [bridge-1] return self.resolve() [bridge-1] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve [carla_waypoint_publisher-8] return get_distribution(dist).load_entry_point(group, name) [carla_waypoint_publisher-8] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point [bridge-1] module = import(self.module_name, fromlist=['name'], level=0) [bridge-1] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_ros_bridge/lib/python3.8/site-packages/carla_ros_bridge/bridge.py", line 24, in [bridge-1] import carla [bridge-1] ModuleNotFoundError: No module named 'carla' [carla_waypoint_publisher-8] return ep.load() [carla_waypoint_publisher-8] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load [carla_waypoint_publisher-8] return self.resolve() [carla_waypoint_publisher-8] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve [carla_waypoint_publisher-8] module = import(self.module_name, fromlist=['name'], level=0) [carla_waypoint_publisher-8] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_waypoint_publisher/lib/python3.8/site-packages/carla_waypoint_publisher/carla_waypoint_publisher.py", line 24, in [carla_waypoint_publisher-8] import carla [carla_waypoint_publisher-8] ModuleNotFoundError: No module named 'carla'

[ERROR] [carla_waypoint_publisher-8]: process has died [pid 54921, exit code 1, cmd '/media/polaris/code/PNC_Carla_and_ROS2/install/carla_waypoint_publisher/lib/carla_waypoint_publisher/carla_waypoint_publisher --ros-args -r node:=carla_waypoint_publisher --params-file /tmp/launch_params_9hw2msqp --params-file /tmp/launch_params_jnwobqxr --params-file /tmp/launch_params_v_4h500e --params-file /tmp/launch_params_b3jku35l']. [ERROR] [bridge-1]: process has died [pid 54907, exit code 1, cmd '/media/polaris/code/PNC_Carla_and_ROS2/install/carla_ros_bridge/lib/carla_ros_bridge/bridge --ros-args -r node:=carla_ros_bridge --params-file /tmp/launch_params_pqw7n7cv --params-file /tmp/launch_params_ertkq1fb --params-file /tmp/launch_paramstn37g5u --params-file /tmp/launch_params_xexssst8 --params-file /tmp/launch_params_143_xt_n --params-file /tmp/launch_paramszzpvuwq --params-file /tmp/launch_params_l5ltn8f7 --params-file /tmp/launch_params_g8hjlye6 --params-file /tmp/launch_params_u8w20khd --params-file /tmp/launch_params_oxy_l4lp --params-file /tmp/launch_params_ux4157hx']. [INFO] [launch]: process[bridge-1] was required: shutting down launched system [INFO] [rviz2-10]: sending signal 'SIGINT' to process[rviz2-10] [INFO] [carla_manual_control-9]: sending signal 'SIGINT' to process[carla_manual_control-9] [INFO] [control_agent-7]: sending signal 'SIGINT' to process[control_agent-7] [INFO] [planning_agent-6]: sending signal 'SIGINT' to process[planning_agent-6] [INFO] [ad_agent-5]: sending signal 'SIGINT' to process[ad_agent-5] [INFO] [topic_pub_target_speed-4]: sending signal 'SIGINT' to process[topic_pub_target_speed-4] [INFO] [set_initial_pose-3]: sending signal 'SIGINT' to process[set_initial_pose-3] [INFO] [carla_spawn_objects-2]: sending signal 'SIGINT' to process[carla_spawn_objects-2] [INFO] [control_agent-7]: process has finished cleanly [pid 54919]

[carla_manual_control-9] Traceback (most recent call last): [carla_manual_control-9] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_manual_control/lib/python3.8/site-packages/carla_manual_control/carla_manual_control.py", line 38, in [carla_manual_control-9] import pygame [carla_manual_control-9] ModuleNotFoundError: No module named 'pygame' [carla_manual_control-9] [carla_manual_control-9] During handling of the above exception, another exception occurred: [carla_manual_control-9] [carla_manual_control-9] Traceback (most recent call last): [carla_manual_control-9] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_manual_control/lib/carla_manual_control/carla_manual_control", line 11, in [carla_manual_control-9] load_entry_point('carla-manual-control==0.0.0', 'console_scripts', 'carla_manual_control')() [carla_manual_control-9] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point [carla_manual_control-9] return get_distribution(dist).load_entry_point(group, name) [carla_manual_control-9] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point [carla_manual_control-9] return ep.load() [carla_manual_control-9] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load [carla_manual_control-9] return self.resolve() [carla_manual_control-9] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve [carla_manual_control-9] module = import(self.module_name, fromlist=['name'], level=0) [carla_manual_control-9] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_manual_control/lib/python3.8/site-packages/carla_manual_control/carla_manual_control.py", line 61, in [carla_manual_control-9] raise RuntimeError('cannot import pygame, make sure pygame package is installed') [carla_manual_control-9] RuntimeError: cannot import pygame, make sure pygame package is installed [carla_manual_control-9] Error in sys.excepthook: [carla_manual_control-9] Traceback (most recent call last): [carla_manual_control-9] File "/usr/lib/python3/dist-packages/apport_python_hook.py", line 72, in apport_excepthook [carla_manual_control-9] from apport.fileutils import likely_packaged, get_recent_crashes [carla_manual_control-9] File "/usr/lib/python3/dist-packages/apport/init.py", line 5, in [carla_manual_control-9] from apport.report import Report [carla_manual_control-9] File "/usr/lib/python3/dist-packages/apport/report.py", line 32, in [carla_manual_control-9] import apport.fileutils [carla_manual_control-9] File "/usr/lib/python3/dist-packages/apport/fileutils.py", line 12, in [carla_manual_control-9] import os, glob, subprocess, os.path, time, pwd, sys, requests_unixsocket [carla_manual_control-9] File "/usr/lib/python3/dist-packages/requests_unixsocket/init.py", line 1, in [carla_manual_control-9] import requests [carla_manual_control-9] File "/usr/lib/python3/dist-packages/requests/init.py", line 95, in [carla_manual_control-9] from urllib3.contrib import pyopenssl [carla_manual_control-9] File "/usr/lib/python3/dist-packages/urllib3/contrib/pyopenssl.py", line 46, in [carla_manual_control-9] import OpenSSL.SSL [carla_manual_control-9] File "/usr/lib/python3/dist-packages/OpenSSL/init.py", line 8, in [carla_manual_control-9] from OpenSSL import crypto, SSL [carla_manual_control-9] File "/usr/lib/python3/dist-packages/OpenSSL/crypto.py", line 12, in [carla_manual_control-9] from cryptography import x509 [carla_manual_control-9] File "/usr/lib/python3/dist-packages/cryptography/x509/init.py", line 8, in

[carla_manual_control-9] from cryptography.x509.base import ( [carla_manual_control-9] File "/usr/lib/python3/dist-packages/cryptography/x509/base.py", line 18, in [carla_manual_control-9] from cryptography.x509.extensions import Extension, ExtensionType [carla_manual_control-9] File "/usr/lib/python3/dist-packages/cryptography/x509/extensions.py", line 26, in [carla_manual_control-9] from cryptography.x509.general_name import GeneralName, IPAddress, OtherName [carla_manual_control-9] File "/usr/lib/python3/dist-packages/cryptography/x509/general_name.py", line 63, in [carla_manual_control-9] class RFC822Name(object): [carla_manual_control-9] File "/usr/lib/python3/dist-packages/cryptography/x509/general_name.py", line 97, in RFC822Name [carla_manual_control-9] def _idna_encode(self, value): [carla_manual_control-9] KeyboardInterrupt [carla_manual_control-9] [carla_manual_control-9] Original exception was: [carla_manual_control-9] Traceback (most recent call last): [carla_manual_control-9] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_manual_control/lib/python3.8/site-packages/carla_manual_control/carla_manual_control.py", line 38, in [carla_manual_control-9] import pygame [carla_manual_control-9] ModuleNotFoundError: No module named 'pygame' [carla_manual_control-9] [carla_manual_control-9] During handling of the above exception, another exception occurred: [carla_manual_control-9] [carla_manual_control-9] Traceback (most recent call last): [carla_manual_control-9] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_manual_control/lib/carla_manual_control/carla_manual_control", line 11, in [carla_manual_control-9] load_entry_point('carla-manual-control==0.0.0', 'console_scripts', 'carla_manual_control')() [carla_manual_control-9] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point [carla_manual_control-9] return get_distribution(dist).load_entry_point(group, name) [carla_manual_control-9] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point [carla_manual_control-9] return ep.load() [carla_manual_control-9] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load [ad_agent-5] Traceback (most recent call last): [ad_agent-5] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_ad_agent/lib/carla_ad_agent/ad_agent", line 11, in [ad_agent-5] load_entry_point('carla-ad-agent==0.0.0', 'console_scripts', 'ad_agent')() [ad_agent-5] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point [ad_agent-5] return get_distribution(dist).load_entry_point(group, name) [ad_agent-5] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point [ad_agent-5] return ep.load() [ad_agent-5] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load [ad_agent-5] return self.resolve() [ad_agent-5] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve [ad_agent-5] module = import(self.module_name, fromlist=['name'], level=0) [ad_agent-5] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_ad_agent/lib/python3.8/site-packages/carla_ad_agent/ad_agent.py", line 21, in [ad_agent-5] from carla_ad_agent.agent import Agent, AgentState [ad_agent-5] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_ad_agent/lib/python3.8/site-packages/carla_ad_agent/agent.py", line 15, in [ad_agent-5] import carla [ad_agent-5] ModuleNotFoundError: No module named 'carla' [carla_manual_control-9] return self.resolve() [carla_manual_control-9] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve [carla_manual_control-9] module = import(self.module_name, fromlist=['name'], level=0) [carla_manual_control-9] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_manual_control/lib/python3.8/site-packages/carla_manual_control/carla_manual_control.py", line 61, in [carla_manual_control-9] raise RuntimeError('cannot import pygame, make sure pygame package is installed') [carla_manual_control-9] RuntimeError: cannot import pygame, make sure pygame package is installed [set_initial_pose-3] Traceback (most recent call last): [set_initial_pose-3] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_spawn_objects/lib/carla_spawn_objects/set_initial_pose", line 11, in [set_initial_pose-3] load_entry_point('carla-spawn-objects==0.0.0', 'console_scripts', 'set_initial_pose')() [ad_agent-5] Error in sys.excepthook: [ad_agent-5] Traceback (most recent call last): [ad_agent-5] File "/usr/lib/python3/dist-packages/apport_python_hook.py", line 72, in apport_excepthook [ad_agent-5] from apport.fileutils import likely_packaged, get_recent_crashes [ad_agent-5] File "/usr/lib/python3/dist-packages/apport/init.py", line 5, in [ad_agent-5] from apport.report import Report [ad_agent-5] File "/usr/lib/python3/dist-packages/apport/report.py", line 32, in [ad_agent-5] import apport.fileutils [ad_agent-5] File "/usr/lib/python3/dist-packages/apport/fileutils.py", line 12, in [ad_agent-5] import os, glob, subprocess, os.path, time, pwd, sys, requests_unixsocket [ad_agent-5] File "/usr/lib/python3/dist-packages/requests_unixsocket/init.py", line 1, in [ad_agent-5] import requests [ad_agent-5] File "/usr/lib/python3/dist-packages/requests/init.py", line 95, in [ad_agent-5] from urllib3.contrib import pyopenssl [ad_agent-5] File "/usr/lib/python3/dist-packages/urllib3/contrib/pyopenssl.py", line 48, in [ad_agent-5] from cryptography.hazmat.backends.openssl import backend as openssl_backend [ad_agent-5] File "/usr/lib/python3/dist-packages/cryptography/hazmat/backends/openssl/init.py", line 7, in [ad_agent-5] from cryptography.hazmat.backends.openssl.backend import backend [ad_agent-5] File "/usr/lib/python3/dist-packages/cryptography/hazmat/backends/openssl/backend.py", line 35, in [ad_agent-5] from cryptography.hazmat.backends.openssl.dsa import ( [ad_agent-5] File "/usr/lib/python3/dist-packages/cryptography/hazmat/backends/openssl/dsa.py", line 85, in [ad_agent-5] class _DSAParameters(object): [ad_agent-5] File "/usr/lib/python3/dist-packages/cryptography/utils.py", line 47, in register_decorator [ad_agent-5] verify_interface(iface, klass) [ad_agent-5] File "/usr/lib/python3/dist-packages/cryptography/utils.py", line 107, in verify_interface [ad_agent-5] actual = signature(getattr(klass, method)) [ad_agent-5] File "/usr/lib/python3.8/inspect.py", line 3105, in signature [ad_agent-5] return Signature.from_callable(obj, follow_wrapped=follow_wrapped) [ad_agent-5] File "/usr/lib/python3.8/inspect.py", line 2854, in from_callable [ad_agent-5] return _signature_from_callable(obj, sigcls=cls, [ad_agent-5] File "/usr/lib/python3.8/inspect.py", line 2304, in _signature_from_callable [ad_agent-5] return _signature_from_function(sigcls, obj, [ad_agent-5] File "/usr/lib/python3.8/inspect.py", line 2201, in _signature_from_function [ad_agent-5] if func_code.co_flags & CO_VARKEYWORDS: [ad_agent-5] KeyboardInterrupt [topic_pub_target_speed-4] Traceback (most recent call last): [topic_pub_target_speed-4] File "/opt/ros/foxy/bin/ros2", line 11, in [topic_pub_target_speed-4] load_entry_point('ros2cli==0.9.13', 'console_scripts', 'ros2')() [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/ros2cli/cli.py", line 39, in main [topic_pub_target_speed-4] add_subparsers_on_demand( [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/ros2cli/command/init.py", line 250, in add_subparsers_on_demand [topic_pub_target_speed-4] extension.add_arguments( [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/command/topic.py", line 29, in add_arguments [topic_pub_target_speed-4] add_subparsers_on_demand( [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/ros2cli/command/init.py", line 235, in add_subparsers_on_demand [topic_pub_target_speed-4] command_extensions = get_command_extensions( [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/ros2cli/command/init.py", line 57, in get_command_extensions [topic_pub_target_speed-4] extensions = instantiate_extensions( [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/ros2cli/plugin_system.py", line 40, in instantiate_extensions [topic_pub_target_speed-4] extension_types = load_entry_points( [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/ros2cli/entry_points.py", line 88, in load_entry_points [topic_pub_target_speed-4] extension_type = entry_point.load() [topic_pub_target_speed-4] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load [topic_pub_target_speed-4] return self.resolve() [topic_pub_target_speed-4] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve [topic_pub_target_speed-4] module = import(self.module_name, fromlist=['name'], level=0) [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/verb/pub.py", line 22, in [topic_pub_target_speed-4] from ros2cli.node.direct import DirectNode [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/ros2cli/node/direct.py", line 18, in [topic_pub_target_speed-4] import rclpy.action [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/action/init.py", line 15, in [topic_pub_target_speed-4] from .client import ActionClient # noqa: F401 [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/action/client.py", line 32, in [topic_pub_target_speed-4] from unique_identifier_msgs.msg import UUID [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/unique_identifier_msgs/msg/init.py", line 1, in [topic_pub_target_speed-4] from unique_identifier_msgs.msg._uuid import UUID # noqa: F401 [topic_pub_target_speed-4] File "/opt/ros/foxy/lib/python3.8/site-packages/unique_identifier_msgs/msg/_uuid.py", line 9, in [topic_pub_target_speed-4] import numpy # noqa: E402, I100 [topic_pub_target_speed-4] File "/home/polaris/.local/lib/python3.8/site-packages/numpy/init.py", line 144, in [topic_pub_target_speed-4] from . import core [topic_pub_target_speed-4] File "/home/polaris/.local/lib/python3.8/site-packages/numpy/core/init.py", line 103, in [topic_pub_target_speed-4] from . import _internal [topic_pub_target_speed-4] File "/home/polaris/.local/lib/python3.8/site-packages/numpy/core/_internal.py", line 146, in [topic_pub_target_speed-4] format_re = re.compile(r'(?P[<>|=]?)' [topic_pub_target_speed-4] File "/usr/lib/python3.8/re.py", line 252, in compile [topic_pub_target_speed-4] return _compile(pattern, flags) [topic_pub_target_speed-4] File "/usr/lib/python3.8/re.py", line 304, in _compile [topic_pub_target_speed-4] p = sre_compile.compile(pattern, flags) [topic_pub_target_speed-4] File "/usr/lib/python3.8/sre_compile.py", line 768, in compile [topic_pub_target_speed-4] code = _code(p, flags) [topic_pub_target_speed-4] File "/usr/lib/python3.8/sre_compile.py", line 607, in _code [topic_pub_target_speed-4] _compile(code, p.data, flags) [topic_pub_target_speed-4] File "/usr/lib/python3.8/sre_compile.py", line 168, in _compile [topic_pub_target_speed-4] _compile(code, p, _combine_flags(flags, add_flags, del_flags)) [topic_pub_target_speed-4] File "/usr/lib/python3.8/sre_compile.py", line 148, in _compile [topic_pub_target_speed-4] _compile(code, av[2], flags) [topic_pub_target_speed-4] File "/usr/lib/python3.8/sre_compile.py", line 120, in _compile [topic_pub_target_speed-4] charset, hascased = _optimize_charset(av, iscased, tolower, fixes) [topic_pub_target_speed-4] File "/usr/lib/python3.8/sre_compile.py", line 280, in _optimize_charset [topic_pub_target_speed-4] charmap = bytearray(256) [topic_pub_target_speed-4] KeyboardInterrupt [carla_spawn_objects-2] Traceback (most recent call last): [carla_spawn_objects-2] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_spawn_objects/lib/carla_spawn_objects/carla_spawn_objects", line 11, in [carla_spawn_objects-2] load_entry_point('carla-spawn-objects==0.0.0', 'console_scripts', 'carla_spawn_objects')() [carla_spawn_objects-2] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point [carla_spawn_objects-2] return get_distribution(dist).load_entry_point(group, name) [carla_spawn_objects-2] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point [ad_agent-5] [ad_agent-5] Original exception was: [ad_agent-5] Traceback (most recent call last): [ad_agent-5] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_ad_agent/lib/carla_ad_agent/ad_agent", line 11, in [ad_agent-5] load_entry_point('carla-ad-agent==0.0.0', 'console_scripts', 'ad_agent')() [ad_agent-5] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point [ad_agent-5] return get_distribution(dist).load_entry_point(group, name) [ad_agent-5] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point [ad_agent-5] return ep.load() [ad_agent-5] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load [ad_agent-5] return self.resolve() [ad_agent-5] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve [ad_agent-5] module = import(self.module_name, fromlist=['name'], level=0) [ad_agent-5] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_ad_agent/lib/python3.8/site-packages/carla_ad_agent/ad_agent.py", line 21, in [ad_agent-5] from carla_ad_agent.agent import Agent, AgentState [ad_agent-5] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_ad_agent/lib/python3.8/site-packages/carla_ad_agent/agent.py", line 15, in [ad_agent-5] import carla [ad_agent-5] ModuleNotFoundError: No module named 'carla' [carla_spawn_objects-2] return ep.load() [carla_spawn_objects-2] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load [carla_spawn_objects-2] return self.resolve() [carla_spawn_objects-2] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve [carla_spawn_objects-2] module = import(self.module_name, fromlist=['name'], level=0) [carla_spawn_objects-2] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_spawn_objects/lib/python3.8/site-packages/src/carla_spawn_objects/carla_spawn_objects.py", line 24, in [set_initial_pose-3] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point [set_initial_pose-3] return get_distribution(dist).load_entry_point(group, name) [set_initial_pose-3] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point [carla_spawn_objects-2] import ros_compatibility as roscomp [carla_spawn_objects-2] File "/media/polaris/code/PNC_Carla_and_ROS2/install/ros_compatibility/lib/python3.8/site-packages/ros_compatibility/init.py", line 20, in [carla_spawn_objects-2] import ros_compatibility.executors [carla_spawn_objects-2] File "/media/polaris/code/PNC_Carla_and_ROS2/install/ros_compatibility/lib/python3.8/site-packages/ros_compatibility/executors.py", line 28, in [carla_spawn_objects-2] import rclpy.executors [carla_spawn_objects-2] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 45, in [carla_spawn_objects-2] from rclpy.subscription import Subscription [carla_spawn_objects-2] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/subscription.py", line 22, in [carla_spawn_objects-2] from rclpy.qos_event import QoSEventHandler [carla_spawn_objects-2] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/qos_event.py", line 25, in [carla_spawn_objects-2] from rclpy.logging import get_logger [carla_spawn_objects-2] File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/logging.py", line 19, in [set_initial_pose-3] return ep.load() [set_initial_pose-3] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load [carla_spawn_objects-2] import rclpy.impl.rcutils_logger [carla_spawn_objects-2] KeyboardInterrupt [set_initial_pose-3] return self.resolve() [set_initial_pose-3] File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve [set_initial_pose-3] module = import(self.module_name, fromlist=['name'], level=0) [set_initial_pose-3] File "/media/polaris/code/PNC_Carla_and_ROS2/install/carla_spawn_objects/lib/python3.8/site-packages/src/carla_spawn_objects/set_initial_pose.py", line 23, in [set_initial_pose-3] from geometry_msgs.msg import PoseWithCovarianceStamped, Pose [set_initial_pose-3] File "/opt/ros/foxy/lib/python3.8/site-packages/geometry_msgs/msg/init.py", line 5, in [set_initial_pose-3] from geometry_msgs.msg._inertia import Inertia # noqa: F401 [set_initial_pose-3] KeyboardInterrupt [ERROR] [ad_agent-5]: process has died [pid 54915, exit code 1, cmd '/media/polaris/code/PNC_Carla_and_ROS2/install/carla_ad_agent/lib/carla_ad_agent/ad_agent --ros-args -r node:=carla_ad_agent_ego_vehicle --params-file /tmp/launch_params_gy741w8y --params-file /tmp/launch_params_d6s1i9gj']. [INFO] [planning_agent-6]: process has finished cleanly [pid 54917] [ERROR] [topic_pub_target_speed-4]: process has died [pid 54913, exit code -2, cmd 'ros2 topic pub /carla/ego_vehicle/target_speed std_msgs/msg/Float64 {'data': 6.33} --qos-durability transient_local']. [ERROR] [carla_spawn_objects-2]: process has died [pid 54909, exit code -2, cmd '/media/polaris/code/PNC_Carla_and_ROS2/install/carla_spawn_objects/lib/carla_spawn_objects/carla_spawn_objects --ros-args -r __node:=carla_spawn_objects --params-file /tmp/launch_params_ml1_gqtx --params-file /tmp/launch_params_yfeewzcb --params-file /tmp/launch_params_td_6fuzi']. [ERROR] [carla_manual_control-9]: process has died [pid 54923, exit code 1, cmd '/media/polaris/code/PNC_Carla_and_ROS2/install/carla_manual_control/lib/carla_manual_control/carla_manual_control --ros-args -r node:=carla_manual_control_ego_vehicle --params-file /tmp/launch_params_uemh01rz']. [ERROR] [set_initial_pose-3]: process has died [pid 54911, exit code -2, cmd '/media/polaris/code/PNC_Carla_and_ROS2/install/carla_spawn_objects/lib/carla_spawn_objects/set_initial_pose --ros-args -r node:=set_initial_pose --params-file /tmp/launch_params_p03ei7kj --params-file /tmp/launch_params_wqx10dim']. [rviz2-10] [INFO] [1720104223.667476889] [rviz2]: Stereo is NOT SUPPORTED [rviz2-10] [INFO] [1720104223.667532968] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-10] [INFO] [1720104223.711075994] [rviz2]: Stereo is NOT SUPPORTED [ERROR] [rviz2-10]: process has died [pid 54925, exit code -6, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /media/polaris/code/PNC_Carla_and_ROS2/install/carla_ad_demo/share/carla_ad_demo/config/carla_ad_demo_ros2.rviz --ros-args -r node:=rviz2 -r carla/ego_vehicle/spectator_pose:=/carla/ego_vehicle/rgb_view/control/set_transform']. [INFO] [launch]: process[rviz2-10] was required: shutting down launched system

[GoGoGo13579]

错误应该不在这一段，你要找到最开始的ERROR信息。一般说来有两个，一个是没连接上Carla，显示timeout连接超时；一个是生成车辆失败，因为在同一个spawn point出生点，生成两辆车，这种就是重启程序。如果不是这两个，就是根据相应的报错信息排查了，在检查的时候，重点关注[ERROR]信息.

[JKK-dr]

感谢答复，我已经把所有报错都贴上来了，在这一段的

[JKK-dr]

我看到车辆信息缺失，是因为某个ros节点 没有发送车辆信息吗？我这里是用的conda环境。ros启动会使用conda环境吗，会不会是因为使用了系统python环境的原因呢？

[GoGoGo13579]

我感觉错误不在这里，日志消息会把最开始的错误顶掉，你在找找上边，不行用rqt里有一个工具，名字忘记了，他会记录所有日志消息。我用的不是conda环境，这个我不太清楚，先找到问题节点，单独运行一下那个节点试一试。一般车辆信息没有还是我说的哪两种原因，没连接上，或者spawn失败。

[JKK-dr]

解决啦！因为ros默认使用系统的python。我在系统的python下安装对应包就解决了。再次感谢您的答复和开源贡献！很棒！