用户您好，请详细描述您所遇到的问题：
参考地平线机器人平台用户手册：
https://developer.horizon.ai/api/v1/fileData/TogetherROS/box/box\_adv/hobot\_audio.html
- 系统软件版本： 2.0.0
- 问题涉及的技术领域： 语音算法，驱动
- 问题描述：智能语音：旭日X3派板端运行hobot_audio pkg 报错
sunrise@ubuntu:~$ i2cdetect -r -y 0
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: – – – – – 08 – – – – – – –
10: – – – – – – – – – – – – – – – –
20: – – – – – – – – – – – – – – – –
30: – – – – – – – – – – – – – – – –
40: 40 – 42 – – – – – – – – – – – – –
50: – – – – – – – – – – – – – – – –
60: – – – – – – – – – – – – – – – –
70: – – – – – – – –
sunrise@ubuntu:~$ source /opt/tros/setup.bash
sunrise@ubuntu:~$ cp -r /opt/tros/lib/hobot_audio/config/ .
sunrise@ubuntu:~$ bash config/audio.sh
mount: only root can use “–options” option
config/audio.sh: line 3: /proc/sys/kernel/printk: Permission denied
config/audio.sh: line 5: /sys/class/gpio/gpio112/direction: Permission denied
config/audio.sh: line 6: /sys/class/gpio/gpio112/value: Permission denied
config/audio.sh: line 8: /sys/class/gpio/gpio118/direction: Permission denied
config/audio.sh: line 9: /sys/class/gpio/gpio118/value: Permission denied
modprobe: FATAL: Module snd_card=5 not found.
modprobe: ERROR: could not insert ‘es7210’: Operation not permitted
modprobe: ERROR: could not insert ‘es8156’: Operation not permitted
modprobe: ERROR: could not insert ‘hobot_i2s_dma’: Operation not permitted
modprobe: ERROR: could not insert ‘hobot_cpudai’: Operation not permitted
modprobe: ERROR: could not insert ‘hobot_snd_7210’: Operation not permitted
sunrise@ubuntu:~$ sudo bash config/audio.sh
config/audio.sh: line 4: echo: write error: Device or resource busy
config/audio.sh: line 7: echo: write error: Device or resource busy
modprobe: FATAL: Module snd_card=5 not found.
sunrise@ubuntu:~$ ros2 launch hobot_audio hobot_audio.launch.py
[INFO] [launch]: All log files can be found below /home/sunrise/.ros/log/2023-07-10-16-25-00-183991-ubuntu-4011
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name=‘Task-2’ coro=<LaunchService._process_one_event() done, defined at /opt/tros/lib/python3.8/site-packages/launch/launch_service.py:226> exception=InvalidLaunchFileError(‘py’)>
Traceback (most recent call last):
File “/opt/tros/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py”, line 53, in get_launch_description_from_any_launch_file
return loader(launch_file_path)
File “/opt/tros/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py”, line 62, in get_launch_description_from_python_launch_file
launch_file_module = load_python_launch_file_as_module(python_launch_file_path)
File “/opt/tros/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py”, line 37, in load_python_launch_file_as_module
loader.exec_module(mod)
File “<frozen importlib._bootstrap_external>”, line 848, in exec_module
File “<frozen importlib._bootstrap>”, line 219, in _call_with_frames_removed
File “/opt/tros/share/hobot_audio/launch/hobot_audio.launch.py”, line 18, in
from launch_ros.actions import Node
File “/opt/tros/lib/python3.8/site-packages/launch_ros/__init__.py”, line 17, in
from . import actions
File “/opt/tros/lib/python3.8/site-packages/launch_ros/actions/__init__.py”, line 17, in
from .composable_node_container import ComposableNodeContainer
File “/opt/tros/lib/python3.8/site-packages/launch_ros/actions/composable_node_container.py”, line 25, in
from .node import Node
File “/opt/tros/lib/python3.8/site-packages/launch_ros/actions/node.py”, line 57, in
from rclpy.validate_namespace import validate_namespace
File “/opt/tros/lib/python3.8/site-packages/rclpy/validate_namespace.py”, line 16, in
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
File “/opt/tros/lib/python3.8/site-packages/rclpy/impl/implementation_singleton.py”, line 31, in
rclpy_implementation = _import(‘._rclpy’)
File “/opt/tros/lib/python3.8/site-packages/rclpy/impl/__init__.py”, line 28, in _import
return importlib.import_module(name, package=‘rclpy’)
File “/usr/lib/python3.8/importlib/__init__.py”, line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
ImportError: librclpy_common.so: cannot open shared object file: No such file or directory
The C extension ‘/opt/tros/lib/python3.8/site-packages/rclpy/_rclpy.cpython-38-aarch64-linux-gnu.so’ failed to be imported while being present on the system. Please refer to ‘https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-even-with-library-present-on-the-system’ for possible solutions
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File “/opt/tros/lib/python3.8/site-packages/launch/launch_service.py”, line 228, in _process_one_event
await self.__process_event(next_event)
File “/opt/tros/lib/python3.8/site-packages/launch/launch_service.py”, line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File “/opt/tros/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File “/opt/tros/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File “/opt/tros/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File “/opt/tros/lib/python3.8/site-packages/launch/action.py”, line 108, in visit
return self.execute(context)
File “/opt/tros/lib/python3.8/site-packages/launch/actions/include_launch_description.py”, line 130, in execute
launch_description = self.__launch_description_source.get_launch_description(context)
File “/opt/tros/lib/python3.8/site-packages/launch/launch_description_source.py”, line 84, in get_launch_description
self._get_launch_description(self.__expanded_location)
File “/opt/tros/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py”, line 53, in _get_launch_description
return get_launch_description_from_any_launch_file(location)
File “/opt/tros/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py”, line 56, in get_launch_description_from_any_launch_file
raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: librclpy_common.so: cannot open shared object file: No such file or directory
The C extension ‘/opt/tros/lib/python3.8/site-packages/rclpy/_rclpy.cpython-38-aarch64-linux-gnu.so’ failed to be imported while being present on the system. Please refer to ‘https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-even-with-library-present-on-the-system’ for possible solutions