怎么下载ackermann_steering_controller包

你可以通过以下步骤下载和安装ackermann_steering_controller包:

1. 打开终端并进入你的ROS工作空间

2. 输入以下命令，从GitHub上克隆ackermann_steering_controller仓库

   git clone https://github.com/ros-controls/ros_controllers.git

3. 进入ros_controllers包并使用catkin_make构建包

   cd ros_controllers
   catkin_make

4. 现在你应该能够在工作空间中看到ackermann_steering_controller包了，你可以在你的ROS程序中使用它。

如果你想在ROS程序中使用ackermann_steering_controller包，你需要在CMakeList.txt文件中添加以下代码：

   find_package(catkin REQUIRED COMPONENTS
       ...
       ackermann_steering_controller
       ...
   )

然后，你可以在你的ROS程序中使用ackermann_steering_controller包。

相关问题

[qingzhou/controller_spawner-3] process has died [pid 7947, exit code 1, cmd /opt/ros/melodic/lib/controller_manager/spawner joint_state_publisher ackermann_steering_controller __name:=controller_spawner __log:=/home/cmt/.ros/log/5830eddc-1d72-11ee-b9d2-0800274b9a1c/qingzhou-controller_spawner-3.log]. log file: /home/cmt/.ros/log/5830eddc-1d72-11ee-b9d2-0800274b9a1c/qingzhou-controller_spawner-3*.log

这个错误消息表明一个名为 "controller_spawner" 的进程已经终止，并且返回了退出码 1。该进程的命令是 "/opt/ros/melodic/lib/controller_manager/spawner joint_state_publisher ackermann_steering_controller __name:=controller_spawner __log:=/home/cmt/.ros/log/5830eddc-1d72-11ee-b9d2-0800274b9a1c/qingzhou-controller_spawner-3.log"。同时，日志文件路径为 "/home/cmt/.ros/log/5830eddc-1d72-11ee-b9d2-0800274b9a1c/qingzhou-controller_spawner-3*.log"。

这个错误可能是由于许多原因引起的，例如配置错误、资源不足或程序错误。要解决问题，你可以查看日志文件以获取更多详细信息，了解进程终止的原因。你还可以检查命令中的参数和配置是否正确，并确保所需的资源可用。如果问题仍然存在，可能需要进一步调试和排查错误的原因。

[ERROR] [1686470934.428942562]: Failed to load nodelet [/vesc/high_level/ackermann_cmd_mux] of type [ackermann_cmd_mux/AckermannCmdMuxNodelet] even after refreshing the cache: Could not find library corresponding to plugin ackermann_cmd_mux/AckermannCmdMuxNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [ERROR] [1686470934.428971220]: The error before refreshing the cache was: Could not find library corresponding to plugin ackermann_cmd_mux/AckermannCmdMuxNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [FATAL] [1686470934.431196976]: Failed to load nodelet '/vesc/high_level/ackermann_cmd_mux` of type `ackermann_cmd_mux/AckermannCmdMuxNodelet` to manager `ackermann_cmd_mux_nodelet_manager' [ERROR] [1686470934.443739149]: Failed to load nodelet [/vesc/low_level/ackermann_cmd_mux] of type [ackermann_cmd_mux/AckermannCmdMuxNodelet] even after refreshing the cache: Could not find library corresponding to plugin ackermann_cmd_mux/AckermannCmdMuxNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [ERROR] [1686470934.443788076]: The error before refreshing the cache was: Could not find library corresponding to plugin ackermann_cmd_mux/AckermannCmdMuxNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [FATAL] [1686470934.443989800]: Failed to load nodelet '/vesc/low_level/ackermann_cmd_mux` of type `ackermann_cmd_mux/AckermannCmdMuxNodelet` to manager `ackermann_cmd_mux_nodelet_manager' [INFO] [1686470934.604266, 0.000000]: Waiting for /clock to be available... [vesc/high_level/ackermann_cmd_mux-15] process has died [pid 14355, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load ackermann_cmd_mux/AckermannCmdMuxNodelet ackermann_cmd_mux_nodelet_manager __name:=ackermann_cmd_mux __log:=/home/wangyize/.ros/log/34ccd5d4-082f-11ee-88c4-d10631277e54/vesc-high_level-ackermann_cmd_mux-15.log]. log file: /home/wangyize/.ros/log/34ccd5d4-082f-11ee-88c4-d10631277e54/vesc-high_level-ackermann_cmd_mux-15*.log [vesc/low_level/ackermann_cmd_mux-17] process has died [pid 14362, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load ackermann_cmd_mux/AckermannCmdMuxNodelet ackermann_cmd_mux_nodelet_manager __name:=ackermann_cmd_mux __log:=/home/wangyize/.ros/log/34ccd5d4-082f-11ee-88c4-d10631277e54/vesc-low_level-ackermann_cmd_mux-17.log]. log file: /home/wangyize/.ros/log/34ccd5d4-082f-11ee-88c4-d10631277e54/vesc-low_level-ackermann_cmd_mux-17*.log

这是一个ROS节点加载失败的错误信息。它指出节点 `/vesc/high_level/ackermann_cmd_mux` 和 `/vesc/low_level/ackermann_cmd_mux` 加载失败，其类型是 `ackermann_cmd_mux/AckermannCmdMuxNodelet`。在刷新缓存后，仍然无法找到对应的库文件。这个错误信息中还包含了一些不可恢复的错误，例如节点崩溃和退出等。

这个错误通常是由于插件描述 XML 文件名称与库文件名称不匹配或者库文件不在正确的路径下所引起的。你可以检查一下插件描述 XML 文件和库文件，确保它们的名称和路径都是正确的。此外，还可以检查一下 ROS 环境变量和工作空间设置是否正确。