miroboticslab / cyberdog_ws Goto Github PK

colcon build --merge-install --install-base /opt/ros2/cyberdog/ --packages-up-to audio_demos不通过

/usr/bin/ld: libcyberdog_fds.so: undefined reference to Poco::JSON::Array::Array()' /usr/bin/ld: libcyberdog_fds.so: undefined reference to Poco::JSON::Object::Object(bool)'

如题，我想知道这个仓库是适用于哪一代的狗，cyberdog1还是cyberdog2

mi@mi-desktop:~$ pip3
fTraceback (most recent call last):
File "/usr/bin/pip3", line 9, in
from pip import main
File "/usr/lib/python3/dist-packages/pip/init.py", line 22, in
from pip._vendor.requests.packages.urllib3.exceptions import DependencyWarning
File "/usr/lib/python3/dist-packages/pip/_vendor/init.py", line 64, in
vendored("distro")
File "/usr/lib/python3/dist-packages/pip/_vendor/init.py", line 33, in vendored
import(modulename, globals(), locals(), level=0)
File "", line 971, in _find_and_load
File "", line 955, in _find_and_load_unlocked
File "", line 656, in _load_unlocked
File "", line 626, in _load_backward_compatible
File "/usr/share/python-wheels/distro-1.0.1-py2.py3-none-any.whl/distro.py", line 1051, in
File "/usr/share/python-wheels/distro-1.0.1-py2.py3-none-any.whl/distro.py", line 596, in init
File "/usr/share/python-wheels/distro-1.0.1-py2.py3-none-any.whl/distro.py", line 996, in _get_distro_release_info
File "/usr/share/python-wheels/distro-1.0.1-py2.py3-none-any.whl/distro.py", line 1019, in _parse_distro_release_file
File "/usr/lib/python3.6/codecs.py", line 321, in decode
(result, consumed) = self._buffer_decode(data, self.errors, final)
UnicodeDecodeError: 'utf-8' codec can't decode byte 0xff in position 458: invalid start byte

你好，想求助一下是否有URDF文件或者Mujoco XML文件开源的计划呢？如果有的话有具体的时间线吗

如题

![image](https://github.com/MiRoboticsLab/cyberdog_ws/assets/57748614/a5742525-415f-43c0-89a6-c736556c447a

root@86942dd009e3:/tmp/cyberdog_ws# colcon build
[4.717s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces:
'mqttc' is in: /opt/ros2/galactic
'cpp_httplib' is in: /opt/ros2/galactic
If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:
--allow-overriding cpp_httplib mqttc

This may be promoted to an error in a future release of colcon-override-check.
Starting >>> protocol
Starting >>> rapidjson
Starting >>> toml
Starting >>> xpack
Finished <<< toml [1.40s]
Finished <<< rapidjson [1.74s]
Starting >>> nav2_common
Starting >>> nav_2d_msgs
Finished <<< xpack [1.93s]
Starting >>> params
Finished <<< params [1.04s]
Starting >>> filesystem
Finished <<< filesystem [0.94s]
Starting >>> nvinference
Finished <<< nav2_common [3.50s]
Starting >>> nav2_msgs
Finished <<< nvinference [1.39s]
Starting >>> nav2_voxel_grid
--- stderr: nav_2d_msgs
CMake Error at /opt/ros2/galactic/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:213 (message):
execute_process(/usr/bin/python3 -c 'import
numpy;print(numpy.get_include())') returned error code Illegal instruction
Call Stack (most recent call first):
/opt/ros2/galactic/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros2/galactic/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
CMakeLists.txt:8 (rosidl_generate_interfaces)

Failed <<< nav_2d_msgs [7.48s, exited with code 1]
Aborted <<< nav2_msgs [10.7s]
Aborted <<< protocol [19.2s]
Aborted <<< nav2_voxel_grid [43.4s]

Summary: 7 packages finished [53.7s]
1 package failed: nav_2d_msgs
3 packages aborted: nav2_msgs nav2_voxel_grid protocol
3 packages had stderr output: nav2_msgs nav_2d_msgs protocol
91 packages not processed

开发者手册中有刷机文档 https://miroboticslab.github.io/blogs/#/cn/cyberdog_flash ， 但却没有提供刷机包链接。
这是写文档时遗漏了，还是目前不支持刷机呢

目前看起来缺少符合GPL v2.0协议的Linux Kernel代码，CyberDog2上三块SoC的内核代码都没有。啥时候开呢？

没更新前编译是正常的,1.3.1发布后编译就报错了
Starting >>> protocol
Starting >>> rapidjson
Starting >>> toml
Starting >>> xpack
Starting >>> nav2_common
Starting >>> nav_2d_msgs
Starting >>> params
Starting >>> filesystem
Finished <<< xpack [9.03s]
Finished <<< rapidjson [10.5s]
Starting >>> nvinference
Starting >>> zxing
Finished <<< toml [12.5s]
Finished <<< params [11.9s]
Starting >>> cpp_httplib
Starting >>> cyberdog_bringup
Finished <<< filesystem [13.2s]
Starting >>> mqttc
Finished <<< nav2_common [22.4s]
Finished <<< nvinference [14.2s]
Starting >>> nav2_msgs
Starting >>> nav2_voxel_grid
Finished <<< cpp_httplib [14.2s]
Starting >>> mcr_msgs
--- stderr: mqttc
CMake Error at /usr/local/share/cmake-3.20/Modules/FindPackageHandleStandardArgs.cmake:230 (message):
Could NOT find MbedTLS (missing: MBEDCRYPTO_LIBRARY)
Call Stack (most recent call first):
/usr/local/share/cmake-3.20/Modules/FindPackageHandleStandardArgs.cmake:594 (_FPHSA_FAILURE_MESSAGE)
cmake/FindMbedTLS.cmake:8 (find_package_handle_standard_args)
CMakeLists.txt:43 (find_package)

Failed <<< mqttc [15.2s, exited with code 1]

当cyberdog2 运行pip install numpy opencv-python 等情况时候会出现这种情况

有谁遇到过这种情况么, 怎么解决这个问题呢？请给一些建议也好。非常感谢大家!

我从小米论坛一路跳转到这个codebase。 据说这个是支持cyberdog2的， 但我看readme中并没有提及cyberdog2？

我通过连接笔记本的热点可以进入ssh,进入的是midesktop
但是我使用download线去连接就无法连接ssh, ping 192.168.55.1也ping不通
我通过热点进入ssh之后按照文档进入刷机模式之后又无法连接到ssh了

close

编译的时候会出现

SetuptoolsDeprecationWarning: setup.py install is deprecated. ......

需要将setuptools降级

pip install setuptools==58.2.0

参考
https://answers.ros.org/question/396439/setuptoolsdeprecationwarning-setuppy-install-is-deprecated-use-build-and-pip-and-other-standards-based-tools/

装ros2老是出现这问题

So I've got this brand new cyberdog2 as a present, and now can't use it. When I try to connect dog to the app it says error 1209 and also says in voice that LED dictionary selftest failed. No I can't do anything with it. I've also tried to access it's ssh console like described in this repo's docs, but it seems like I need some kind of developer flag on my account and I don't know how or where to get it. I'll appreciate any help with this matter, thank you!
And sorry for English in Chinese repo - this is the only international language that I know.

vcs import . < cyberdog.repos无法读取远程仓库

SSH到狗上面运行这个
ros2 run rqt_console rqt_console
会报错
Package 'rqt_console' not found

把狗加入一个局域网,同样使用ROS_DOMAIN_ID=42,结果ros2 multicast receive和ros2 multicast send是互通的,但是两个机器的节点和消息就是不通,没法调试程序啊.

请指点怎么样调试代码看日志!

室外建图失败，地图有效数据过少
再次开启建图狗就需要重启
app已更新

• 地图检查服务出现异常，请重启机器狗： 3111

咨询一下，应该从哪里拿到机器狗的语音识别结果啊，想做一个对话机器狗，找不到输出语音识别结果的接口[抱拳][抱拳][抱拳]，我看机器狗里面有很多ASR的topic和服务，但是没有具体的使用说明。

机械和电路部分问题不大,电源也找到狗子的扩展的24V电源.
想咨询下
1.有哪些连接狗的方式,IO口,还是别的?
2.是否能用蓝牙ble连接?
3.连接后订阅狗被语音唤醒的消息,大概要改哪里的代码?
请大神指点!

铁蛋启动异常，各种功能均无法使用：
1、启动铁蛋无声音
2、各功能均无法使用
3、目前仅可以进行ssh登录

ssh进入铁蛋内部 查看日志： tail -f /var/log/syslog

线刷日志：（刷机配置force_update关闭）
flash_3-2_0_20231204-220206.log

如题

Describe the bug
docker 环境下，cyberdog_ws 编译失败，缺失 liblog4cxx.so.10

在狗上source setup.bash时提示找不到/opt/ros2/galactic/share/libg2o/local_setup.bash，如图：

如何解决？

ssh登录上狗后，我发现pip3有问题，运行了apt update和apt upgrade python3-pip, 重启后自检失败，雷达、gps等无法加载。有什么办法恢复到出厂设置吗