위 링크를 따라서 SLAM 하기 – NAVIGATION 를 실행하는데 Terminal_2에서 아래 실행 후 아래와 같이 오류가 납니다.
r1mini@ros2:~$ ros2 launch omo_r1mini_navigation2 navigation2.launch.py map:=map3.yaml
[INFO] [launch]: All log files can be found below /home/r1mini/.ros/log/2022-03-20-23-48-48-961181-ros2-11497
[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/r1mini/ros2_ws/install/omo_r1mini_navigation2/share/omo_r1mini_navigation2/launch/navigation2.launch.py”, line 47, 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/r1mini/ros2_ws/install/ydlidar_ros2_driver’, ‘/home/r1mini/ros2_ws/install/omo_r1mini’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_teleop’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_navigation2’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_gazebo’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_bringup’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_description’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_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/r1mini/ros2_ws/install/ydlidar_ros2_driver’, ‘/home/r1mini/ros2_ws/install/omo_r1mini’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_teleop’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_navigation2’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_gazebo’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_bringup’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_description’, ‘/home/r1mini/ros2_ws/install/omo_r1mini_cartographer’, ‘/opt/ros/foxy’]”