Q&A
前提
ubuntu20.04にROSを導入し、blenderで作成した３Dモデルをrvizで表示させようとしています。
rvizを起動させるときに、起動せずエラーメッセージが発生しました。
初投稿で情報が足りていないかもしれません。できれば教えていただけると嬉しいです。
実現したいこと
エラーをなくして表示させたいです。
発生している問題・エラーメッセージ
WARNING: Package name "3dmoderu" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. ... logging to /home/ha180171/.ros/log/f2a19662-034e-11ed-8941-bcc342ad60b7/roslaunch-DESKTOP-VGDO9B7-15372.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. WARNING: Package name "3dmoderu" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. started roslaunch server http://DESKTOP-VGDO9B7:49679/ SUMMARY ======== PARAMETERS * /robot_description: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.15.14 NODES / joint_state_publisher (joint_state_publisher_gui/joint_state_publisher_gui) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) ROS_MASTER_URI=http://localhost:11311 WARNING: Package name "3dmoderu" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. process[joint_state_publisher-1]: started with pid [15390] process[robot_state_publisher-2]: started with pid [15391] process[rviz-3]: started with pid [15392] /opt/ros/noetic/lib/rviz/rviz: error while loading shared libraries: libQt5Core.so.5: cannot open shared object file: No such file or directory **[ERROR] [1657844779.683335700]: Material [red] has malformed color rgba values: Unable to parse component [2.0] to a double (while parsing a color value) [ WARN] [1657844779.687869700]: link 'body_link' material 'red' undefined. [ WARN] [1657844779.688126100]: link 'body_link' material 'red' undefined. ================================================================================REQUIRED process [rviz-3] has died! process has died [pid 15392, exit code 127, cmd /opt/ros/noetic/lib/rviz/rviz -d /opt/ros/noetic/share/urdf_tutorial/rviz/urdf.rviz __name:=rviz __log:=/home/ha180171/.ros/log/f2a19662-034e-11ed-8941-bcc342ad60b7/rviz-3.log]. log file: /home/ha180171/.ros/log/f2a19662-034e-11ed-8941-bcc342ad60b7/rviz-3*.log Initiating shutdown! ================================================================================** [rviz-3] killing on exit [joint_state_publisher-1] killing on exit [robot_state_publisher-2] killing on exit Traceback (most recent call last): File "/opt/ros/noetic/lib/joint_state_publisher_gui/joint_state_publisher_gui", line 39, in <module> import rospy File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module> from std_msgs.msg import Header File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module> from ._Bool import * File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module> import genpy File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module> from . message import Message, SerializationError, DeserializationError, MessageException, struct_I File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 64, in <module> import numpy as np File "/usr/lib/python3/dist-packages/numpy/__init__.py", line 149, in <module> from . import polynomial File "/usr/lib/python3/dist-packages/numpy/polynomial/__init__.py", line 21, in <module> from .hermite import Hermite File "<frozen importlib._bootstrap>", line 991, in _find_and_load File "<frozen importlib._bootstrap>", line 971, in _find_and_load_unlocked File "<frozen importlib._bootstrap>", line 914, in _find_spec File "<frozen importlib._bootstrap_external>", line 1407, in find_spec File "<frozen importlib._bootstrap_external>", line 1373, in _get_spec KeyboardInterrupt shutting down processing monitor... ... shutting down processing monitor complete done
該当のソースコード
使用言語：Linux
ha180171@DESKTOP-VGDO9B7:~/catkin_ws/src/3dmoderu/urdf$ roslaunch urdf_tutorial display.launch model:=end.urdf
ファイル配置
Linux
1ha180171@DESKTOP-VGDO9B7:~/catkin_ws/src$ tree 2. 3├── 3dmoderu 4│ ├── CMakeLists.txt 5│ ├── include 6│ │ └── 3dmoderu 7│ ├── launch 8│ │ └── display.launch 9│ ├── package.xml 10│ ├── src 11│ ├── stl 12│ │ ├── base.stl 13│ │ ├── kamu.stl 14│ │ ├── left.stl 15│ │ └── right.stl 16│ └── urdf 17│ └── end.urdf 18└── CMakeLists.txt -> /opt/ros/noetic/share/catkin/cmake/toplevel.cmake 19 207 directories, 9 files 21
,,,
試したこと
環境構築時の参考にしたサイト
ROS noeticのインストール
https://qiita.com/take4eng/items/70f167320ede46e4139c
ROS講座13 URDFを記述する
https://qiita.com/srs/items/35bbaadd6c4be1e39bb9
＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝
ROS講座34 stlファイルをrvizで表示する（このサイトのlaunchを参照する前のエラーメッセージ）
https://qiita.com/srs/items/d247c998929a8be9da21
ha180171@DESKTOP-VGDO9B7:~/catkin_ws/src/3dmoderu/urdf$ roslaunch urdf_tutorial display.launch model:=end.urdf WARNING: Package name "3dmoderu" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. ... logging to /home/ha180171/.ros/log/f2a19662-034e-11ed-8941-bcc342ad60b7/roslaunch-DESKTOP-VGDO9B7-15207.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. WARNING: Package name "3dmoderu" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. started roslaunch server http://DESKTOP-VGDO9B7:49433/ SUMMARY ======== PARAMETERS * /robot_description: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.15.14 NODES / joint_state_publisher (joint_state_publisher_gui/joint_state_publisher_gui) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) ROS_MASTER_URI=http://localhost:11311 WARNING: Package name "3dmoderu" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. process[joint_state_publisher-1]: started with pid [15225] process[robot_state_publisher-2]: started with pid [15226] process[rviz-3]: started with pid [15227] /opt/ros/noetic/lib/rviz/rviz: error while loading shared libraries: libQt5Core.so.5: cannot open shared object file: No such file or directory ================================================================================REQUIRED process [rviz-3] has died! process has died [pid 15227, exit code 127, cmd /opt/ros/noetic/lib/rviz/rviz -d /opt/ros/noetic/share/urdf_tutorial/rviz/urdf.rviz __name:=rviz __log:=/home/ha180171/.ros/log/f2a19662-034e-11ed-8941-bcc342ad60b7/rviz-3.log]. log file: /home/ha180171/.ros/log/f2a19662-034e-11ed-8941-bcc342ad60b7/rviz-3*.log Initiating shutdown! ================================================================================ [rviz-3] killing on exit [joint_state_publisher-1] killing on exit [robot_state_publisher-2] killing on exit Traceback (most recent call last): File "/opt/ros/noetic/lib/joint_state_publisher_gui/joint_state_publisher_gui", line 39, in <module> import rospy File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module> from std_msgs.msg import Header File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module> from ._Bool import * File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module> import genpy File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module> from . message import Message, SerializationError, DeserializationError, MessageException, struct_I File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 64, in <module> import numpy as np File "/usr/lib/python3/dist-packages/numpy/__init__.py", line 142, in <module> from . import core File "/usr/lib/python3/dist-packages/numpy/core/__init__.py", line 71, in <module> from . import numeric File "/usr/lib/python3/dist-packages/numpy/core/numeric.py", line 98, in <module> def zeros_like(a, dtype=None, order='K', subok=True, shape=None): File "/usr/lib/python3/dist-packages/numpy/core/overrides.py", line 174, in decorator source_object = compile( KeyboardInterrupt shutting down processing monitor... ... shutting down processing monitor complete done
主に上記3つの記事を参考に作製しています。
環境
Windows10
ubuntu20.04
ROS Noetic
display.launch 内容
Linux
1<launch> 2 3 <arg name="model" /> 4 <arg name="gui" default="true" /> 5 <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" /> 6 7 <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" /> 8 <param name="use_gui" value="$(arg gui)"/> 9 10 <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> 11 <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" /> 12 <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> 13 14</launch> 15~
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