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按照使用说明一步步操作，编译时出现以上错误。请教是何问题？

同主题

CMake Error at /opt/ros/melodic/share/robot_state_publisher/cmake/robot_state_publisherConfig.cmake:113 (message):
Project 'robot_state_publisher' specifies '/usr/include/eigen3' as an
include dir, which is not found. It does neither exist as an absolute
directory nor in '${{prefix}}//usr/include/eigen3'. Check the website
'http://wiki.ros.org/robot_state_publisher' for information and consider
reporting the problem.
Call Stack (most recent call first):
/opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
wpr_simulation/CMakeLists.txt:10 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/fsh/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/fsh/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Please help me! Thanks!

make[2]: *** 没有规则可制作目标“/usr/lib/x86_64-linux-gnu/libblas.so”，由“/home/dell/jiecatkin_ws/devel/lib/libwpr_plugin.so” 需求。 停止。
make[1]: *** [CMakeFiles/Makefile2:18597：wpr_simulation/CMakeFiles/wpr_plugin.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
[ 5%] Built target wpb_home_imu_tf
[ 6%] Built target wpb_home_calibrate_velocity
[ 6%] Built target _xfyun_waterplus_generate_messages_check_deps_IATSwitch
make: *** [Makefile:141：all] 错误 2

Resource not found: wpb_home_tutorials

[ WARN] [1621863358.241871717]: wpr1_joints_init
[WARN] [1621863378.677513]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[wpr1/controller_spawner-2] process has finished cleanly
log file: /home/lzc/.ros/log/f284cc50-bc94-11eb-acf0-e5f1d6280b7b/wpr1-controller_spawner-2*.log

[ERROR] [1628779188.296601720]: Map_server could not open /home/passoni/catkin_ws/src/wpr_simulation/maps/map.yaml.
process[robot_state_publisher-23]: started with pid [4387]
process[joint_state_publisher-24]: started with pid [4394]
[map_server-20] process has died [pid 4376, exit code 255, cmd /opt/ros/melodic/lib/map_server/map_server /home/passoni/catkin_ws/src/wpr_simulation/maps/map.yaml __name:=map_server __log:=/home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/map_server-20.log].
log file: /home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/map_server-20*.log
process[rviz-25]: started with pid [4399]
[ INFO] [1628779190.178677709]: Requesting the map...
[ WARN] [1628779190.241650328]: Request for map failed; trying again...
[ INFO] [1628779199.670291687]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1628779199.735752950]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1628779200.199552313]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1628779200.241250862]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1628779211.193386359]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ERROR] [1628779212.004623, 266.729000]: Spawn service failed. Exiting.
[ WARN] [1628779212.397909120, 266.730000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 266.73 timeout was 0.1.
[bookshelft-7] process has died [pid 4361, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/passoni/catkin_ws/src/wpr_simulation/models/bookshelft.model -x 2.0 -y -0.55 -z 0 -Y -1.57 -urdf -model bookshelft __name:=bookshelft __log:=/home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/bookshelft-7.log].
log file: /home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/bookshelft-7*.log
[tea_table-6] process has finished cleanly
log file: /home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/tea_table-6*.log
[Err] [REST.cc:205] Error in REST request

编译报错找不到库，请问是什么原因

I run this "roslaunch wpr_simulation wpb_gmapping.launch" every time, there are always some errors like these:

RLException: Invalid tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '/home/ws/catkin_ws/src/wpb_home/wpb_home_bringup/urdf/wpb_home.urdf']].

Param xml is
The traceback for the exception was written to the log file

How to solve it?

Thank you very much!

请问这个可以在Ubuntu 18.04上面实现吗？

在运行roslaunch wpr_simulation wpb_stage_robocup.launch命令后，运行无报错，代码无修改。

Global status:Error,FIx Frame Unknow frame map
添加完机器人模型，机器人为白色， 添加LaserScan没有雷达数据，添加Map后，map topic 无订阅话题

I run this "roslaunch wpr_simulation wpb_simple.launch" every time, there are always some errors like these:

RLException: [wpb_simple.launch] is neither a launch file in package [wpr_simulation] nor is [wpr_simulation] a launch file name
The traceback for the exception was written to the log file

How to solve it?

Thank you very much!

Ubuntu 20.04 nonetic, it is unclear what caused it ？

为什么rviz中path能订阅的话题只有全局，没有局部

Scanning dependencies of target wpb_home_grab_middle
[ 65%] Building CXX object wpb_home/wpb_home_tutorials/CMakeFiles/wpb_home_grab_middle.dir/src/wpb_home_grab_middle.cpp.o
[ 66%] Linking CXX executable /home/yog/catkin_ws/devel/lib/wpb_home_behaviors/wpb_home_face_detect_3d
CMakeFiles/wpb_home_face_detect_3d.dir/src/wpb_home_face_detect_3d.cpp.o：在函数‘drawFacesRGB(cv::Mat)’中：
wpb_home_face_detect_3d.cpp:(.text+0x49f)：对‘cv::rectangle(cv::Mat&, cv::Point_, cv::Point_, cv::Scalar_ const&, int, int, int)’未定义的引用
CMakeFiles/wpb_home_face_detect_3d.dir/src/wpb_home_face_detect_3d.cpp.o：在函数‘callbackRGB(boost::shared_ptr<sensor_msgs::Image_<std::allocator > const> const&)’中：
wpb_home_face_detect_3d.cpp:(.text+0x9e9)：对‘cv::_OutputArray::_OutputArray(cv::Mat&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0xa30)：对‘cv::_OutputArray::_OutputArray(cv::Mat&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0xa46)：对‘cv::_InputArray::_InputArray(cv::Mat const&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0xa7c)：对‘cv::OutputArray::OutputArray(cv::Mat&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0xa92)：对‘cv::InputArray::InputArray(cv::Mat const&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0xb24)：对‘cv::CascadeClassifier::detectMultiScale(cv::Mat const&, std::vector<cv::Rect, std::allocator<cv::Rect > >&, double, int, int, cv::Size, cv::Size)’未定义的引用
CMakeFiles/wpb_home_face_detect_3d.dir/src/wpb_home_face_detect_3d.cpp.o：在函数‘main’中：
wpb_home_face_detect_3d.cpp:(.text+0x1aa5)：对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, int)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0x1f31)：对‘cv::CascadeClassifier::load(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0x260d)：对‘cv::destroyWindow(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’未定义的引用
collect2: error: ld returned 1 exit status
wpb_home/wpb_home_behaviors/CMakeFiles/wpb_home_face_detect_3d.dir/build.make:354: recipe for target '/home/yog/catkin_ws/devel/lib/wpb_home_behaviors/wpb_home_face_detect_3d' failed
make[2]: *** [/home/yog/catkin_ws/devel/lib/wpb_home_behaviors/wpb_home_face_detect_3d] Error 1
CMakeFiles/Makefile2:8453: recipe for target 'wpb_home/wpb_home_behaviors/CMakeFiles/wpb_home_face_detect_3d.dir/all' failed
make[1]: *** [wpb_home/wpb_home_behaviors/CMakeFiles/wpb_home_face_detect_3d.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 67%] Linking CXX executable /home/yog/catkin_ws/devel/lib/wpb_home_tutorials/wpb_home_grab_middle
[ 67%] Built target wpb_home_grab_middle
[ 67%] Built target wpb_home_grab_server
[ 67%] Linking CXX executable /home/yog/catkin_ws/devel/lib/wpb_home_behaviors/wpb_home_objects_3d
[ 67%] Built target wpb_home_objects_3d
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

so many errors
help me plz

roslaunch wpr_simulation wpb_simple.launch

[bookshelft-3] process has died [pid 8128, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/g/wtr/catkin_ws/src/wpr_simulation/models/bookshelft.model -x 3.0 -y 0.2 -z 0 -Y 3.14159 -urdf -model bookshelft __name:=bookshelft __log:=/home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/bookshelft-3.log].
log file: /home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/bookshelft-3*.log
[bottle-4] process has died [pid 8129, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/g/wtr/catkin_ws/src/wpr_simulation/models/bottles/red_bottle.model -x 2.8 -y 0 -z 0.6 -Y 0 -urdf -model red_bottle __name:=bottle __log:=/home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/bottle-4.log].
log file: /home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/bottle-4*.log
[spawn_urdf-5] process has died [pid 8130, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/g/wtr/catkin_ws/src/wpr_simulation/models/wpb_home.model -urdf -model wpb_home __name:=spawn_urdf __log:=/home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/spawn_urdf-5.log].
log file: /home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/spawn_urdf-5*.log

[Err] [REST.cc:205] Error in REST request

libcurl: (6) Could not resolve host: api.ignitionfuel.org
[ INFO] [1628990940.142122811, 280.544000000]: Setting pose (280.544000): -5.433 -0.385 -0.057
[ INFO] [1628991000.931973968, 333.169000000]: GOAL Reached!
[ INFO] [1628991124.994304589, 443.284000000]: GOAL Reached!
[ INFO] [1628991226.492178846, 530.983000000]: GOAL Reached!

没有显示2D的地图，如何解决？