code

wheeltec@wheeltec:~/ws$ roscore
... logging to /home/wheeltec/.ros/log/17f38c3e-1785-11f0-a5bd-15c290529f12/roslaunch-wheeltec-2652.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.

RLException: Unable to contact my own server at [http://192.168.0.100:35913/].
This usually means that the network is not configured properly.

A common cause is that the machine cannot connect to itself.  Please check
for errors by running:

	ping 192.168.0.100

For more tips, please see

	http://wiki.ros.org/ROS/NetworkSetup

The traceback for the exception was written to the log file

# ~/.bashrc: executed by bash(1) for non-login shells.
# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
# for examples

# If not running interactively, don't do anything
case $- in
    *i*) ;;
      *) return;;
esac

# don't put duplicate lines or lines starting with space in the history.
# See bash(1) for more options
HISTCONTROL=ignoreboth

# append to the history file, don't overwrite it
shopt -s histappend

# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
HISTSIZE=1000
HISTFILESIZE=2000

# check the window size after each command and, if necessary,
# update the values of LINES and COLUMNS.
shopt -s checkwinsize

# If set, the pattern "**" used in a pathname expansion context will
# match all files and zero or more directories and subdirectories.
#shopt -s globstar

# make less more friendly for non-text input files, see lesspipe(1)
[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"

# set variable identifying the chroot you work in (used in the prompt below)
if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
    debian_chroot=$(cat /etc/debian_chroot)
fi

# set a fancy prompt (non-color, unless we know we "want" color)
case "$TERM" in
    xterm-color|*-256color) color_prompt=yes;;
esac

# uncomment for a colored prompt, if the terminal has the capability; turned
# off by default to not distract the user: the focus in a terminal window
# should be on the output of commands, not on the prompt
#force_color_prompt=yes

if [ -n "$force_color_prompt" ]; then
    if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
	# We have color support; assume it's compliant with Ecma-48
	# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
	# a case would tend to support setf rather than setaf.)
	color_prompt=yes
    else
	color_prompt=
    fi
fi

if [ "$color_prompt" = yes ]; then
    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
else
    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
fi
unset color_prompt force_color_prompt

# If this is an xterm set the title to user@host:dir
case "$TERM" in
xterm*|rxvt*)
    PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
    ;;
*)
    ;;
esac

# enable color support of ls and also add handy aliases
if [ -x /usr/bin/dircolors ]; then
    test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
    alias ls='ls --color=auto'
    #alias dir='dir --color=auto'
    #alias vdir='vdir --color=auto'

    alias grep='grep --color=auto'
    alias fgrep='fgrep --color=auto'
    alias egrep='egrep --color=auto'
fi

# colored GCC warnings and errors
#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'

# some more ls aliases
alias ll='ls -alF'
alias la='ls -A'
alias l='ls -CF'
# Add an "alert" alias for long running commands.  Use like so:
#   sleep 10; alert
alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'

# Alias definitions.
# You may want to put all your additions into a separate file like
# ~/.bash_aliases, instead of adding them here directly.
# See /usr/share/doc/bash-doc/examples in the bash-doc package.

if [ -f ~/.bash_aliases ]; then
    . ~/.bash_aliases
fi

# enable programmable completion features (you don't need to enable
# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
# sources /etc/bash.bashrc).
if ! shopt -oq posix; then
  if [ -f /usr/share/bash-completion/bash_completion ]; then
    . /usr/share/bash-completion/bash_completion
  elif [ -f /etc/bash_completion ]; then
    . /etc/bash_completion
  fi
fi

source /opt/ros/noetic/setup.bash 
source /home/wheeltec/wheeltec_robot/devel/setup.bash
source /home/wheeltec/cartographer/devel_isolated/setup.bash
export ROS_MASTER_URI=http://192.168.0.100:11311
export ROS_HOSTNAME=192.168.0.100
export SVGA_VGPU10=0

wheeltec@wheeltec:~/ws$ roslaunch decision d.launch
... logging to /home/wheeltec/.ros/log/028b7460-178a-11f0-9045-b3e22dfd0525/roslaunch-wheeltec-2564.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: ignoring defunct <master /> tag
started roslaunch server http://localhost:35263/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /
    com (decision/deci)
    deci (decision/deci)
    gen_tts (decision/deci)
    wx_gui (decision/deci)

ROS_MASTER_URI=http://localhost:11311

process[deci-1]: started with pid [2580]
process[com-2]: started with pid [2581]
process[wx_gui-3]: started with pid [2582]
process[gen_tts-4]: started with pid [2583]
cd /home/wheeltec/ws/src/decision/scripts && python3.8 com.py
cd /home/wheeltec/ws/src/decision/scripts && python3.8 gen_tts.py
cd /home/wheeltec/ws/src/decision/scripts && python3.8 4d.py
cd /home/wheeltec/ws/src/decision/scripts && python3.8 wx_gui.py
Traceback (most recent call last):
  File "gen_tts.py", line 6, in <module>
    import pyaudio
ModuleNotFoundError: No module named 'pyaudio'
Traceback (most recent call last):
  File "wx_gui.py", line 2, in <module>
    import wx ,cv2                       # 引入wxPython包
ModuleNotFoundError: No module named 'wx'
[gen_tts-4] process has finished cleanly
log file: /home/wheeltec/.ros/log/028b7460-178a-11f0-9045-b3e22dfd0525/gen_tts-4*.log
[wx_gui-3] process has finished cleanly
log file: /home/wheeltec/.ros/log/028b7460-178a-11f0-9045-b3e22dfd0525/wx_gui-3*.log
/home/wheeltec/ws/src/decision/scripts
/home/wheeltec/ws/src/decision/scripts
/home/wheeltec/ws/src/decision/scripts
/dev/ttyUSB0
/dev/ttyAMA0
[Errno 13] could not open port /dev/ttyS0: [Errno 13] Permission denied: '/dev/ttyS0'
old/HD_Single_Path_230614_screen.bmp
/dev/ttyUSB0
/dev/ttyAMA0
/dev/ttyUSB0
/dev/ttyAMA0
[Errno 13] could not open port /dev/ttyS0: [Errno 13] Permission denied: '/dev/ttyS0'
[Errno 2] could not open port /dev/ttyS1: [Errno 2] No such file or directory: '/dev/ttyS1'
[INFO] [1744454391.960124]: Starting deci init