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FAQ.md

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  1. usb串口(CH340等)与Ubuntu断开连接

    通过sudo dmesg -w查看系统消息

    [24801.910067] usb 1-1.1: new full-speed USB device number 19 using xhci_hcd
[24802.016166] usb 1-1.1: New USB device found, idVendor=1a86, idProduct=7523, bcdDevice= 2.64
[24802.016206] usb 1-1.1: New USB device strings: Mfr=0, Product=2, SerialNumber=0
[24802.016223] usb 1-1.1: Product: USB Serial
[24802.025038] ch341 1-1.1:1.0: ch341-uart converter detected
[24802.030366] usb 1-1.1: ch341-uart converter now attached to ttyUSB0
[24802.679696] input: BRLTTY 6.4 Linux Screen Driver Keyboard as /devices/virtual/input/input26
[24802.685553] usb 1-1.1: usbfs: interface 0 claimed by ch341 while 'brltty' sets config #1
[24802.692462] ch341-uart ttyUSB0: ch341-uart converter now disconnected from ttyUSB0
[24802.692545] ch341 1-1.1:1.0: device disconnected

    可以看到被一个名为brltty的进程终止了。停止brltty服务即可

    $ systemctl stop brltty-udev.service
$ systemctl mask brltty-udev.service
$ systemctl stop brltty.service
$ systemctl disable brltty.service

    再次通过ls /dev/ttyUSB*即可查看设备已经存在。

  2. 自动赋予特定USB设备权限 创建udev规则，以ch340串口为例

    $ cd /etc/udev/rules.d
$ touch ch340.rules
$ udevadm info -a -n /dev/ttyUSB0

    找到USB设备的供应商ID和产品ID，如 在ch340.rules文件中填写以下内容，保存

    KERNEL=="ttyUSB*", ATTRS{idVendor}=="1d6b", ATTRS{idProduct}=="0002", MODE:="0777", SYMLINK+="ch340"

    重启服务

    sudo service udev reload
sudo service udev restart

    将USB拔出再插上，ls -l /dev/ttyUSB*就可以看到权限已自动修改

  3. gazebo 安装

    $ sudo apt install ros-humble-gazebo-ros-pkgs
$ sudo apt install ros-humble-gazebo-msgs
$ sudo apt install ros-humble-gazebo-plugins
$ sudo apt install ros-humble-gazebo-ros2-control
$ sudo apt install ros-humble-teleop-twist-keyboard

  4. frame [xxx] does not exist 在RVIZ出现这种问题，或者在fixed frame中没有此话题，却在ros2 topic list中有，可能是未发布改节点的TF变换

  5. TF_OLD_DATA ignoring data from the past for frame front_right at time 80.737000 according to authority Authority undetectable 重复发布，或未使用仿真时间

  6. 使用ros2 run tf2_tools view_frame查看TF树时，如果有节点之间转换时间时时间戳，是因为没有使用仿真时间

  7. rosdep update timeout rosdep update 出现time out 解决办法（绝对有效）