希望实现的功能是：二维码识别节点接收到摄像头发布的图像话题，然后进行二维码识别。但是遇到下面的情况：运行摄像头：ros2 launch origincar_bringup usb_websocket_display.launch.py。然后再运行二维码识别：ros2 run qr_code qr_code_detection 。然后出现下面的信息：root@ubuntu:~/dev_ws# ros2 run qr_code qr_code_detection --ros-args --log-level debug
[DEBUG] [1753349294.124695490] [rcl]: Initializing node ‘qrcode_scanner_node’ in namespace ‘’
[DEBUG] [1753349294.124849039] [rcl]: Using domain ID of ‘0’
[DEBUG] [1753349294.155806892] [rcl]: Initializing publisher for topic name ‘/rosout’
[DEBUG] [1753349294.155931190] [rcl]: Expanded topic name ‘/rosout’
[DEBUG] [1753349294.158005753] [rcl]: Publisher initialized
[DEBUG] [1753349294.158138218] [rcl]: Node initialized
[DEBUG] [1753349294.250546460] [rcl]: Initializing publisher for topic name ‘/parameter_events’
[DEBUG] [1753349294.250682051] [rcl]: Expanded topic name ‘/parameter_events’
[DEBUG] [1753349294.252247838] [rcl]: Publisher initialized
[DEBUG] [1753349294.256503677] [rcl]: Initializing service for service name ‘qrcode_scanner_node/describe_parameters’
[DEBUG] [1753349294.256635434] [rcl]: Expanded service name ‘/qrcode_scanner_node/describe_parameters’
[DEBUG] [1753349294.257156627] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1753349294.257213172] [rmw_fastrtps_cpp]: Sub Topic rq/qrcode_scanner_node/describe_parametersRequest
[DEBUG] [1753349294.257242423] [rmw_fastrtps_cpp]: Pub Topic rr/qrcode_scanner_node/describe_parametersReply
[DEBUG] [1753349294.257271216] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1753349294.259782926] [rcl]: Service initialized
[DEBUG] [1753349294.260964027] [rcl]: Initializing service for service name ‘qrcode_scanner_node/get_parameters’
[DEBUG] [1753349294.261119994] [rcl]: Expanded service name ‘/qrcode_scanner_node/get_parameters’
[DEBUG] [1753349294.261755901] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1753349294.261874782] [rmw_fastrtps_cpp]: Sub Topic rq/qrcode_scanner_node/get_parametersRequest
[DEBUG] [1753349294.261909533] [rmw_fastrtps_cpp]: Pub Topic rr/qrcode_scanner_node/get_parametersReply
[DEBUG] [1753349294.261937076] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1753349294.263720791] [rcl]: Service initialized
[DEBUG] [1753349294.265641305] [rcl]: Initializing service for service name ‘qrcode_scanner_node/get_parameter_types’
[DEBUG] [1753349294.265779895] [rcl]: Expanded service name ‘/qrcode_scanner_node/get_parameter_types’
[DEBUG] [1753349294.266269753] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1753349294.266320631] [rmw_fastrtps_cpp]: Sub Topic rq/qrcode_scanner_node/get_parameter_typesRequest
[DEBUG] [1753349294.266347424] [rmw_fastrtps_cpp]: Pub Topic rr/qrcode_scanner_node/get_parameter_typesReply
[DEBUG] [1753349294.266372550] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1753349294.267975131] [rcl]: Service initialized
[DEBUG] [1753349294.269390952] [rcl]: Initializing service for service name ‘qrcode_scanner_node/list_parameters’
[DEBUG] [1753349294.269525251] [rcl]: Expanded service name ‘/qrcode_scanner_node/list_parameters’
[DEBUG] [1753349294.270039860] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1753349294.270105697] [rmw_fastrtps_cpp]: Sub Topic rq/qrcode_scanner_node/list_parametersRequest
[DEBUG] [1753349294.270135323] [rmw_fastrtps_cpp]: Pub Topic rr/qrcode_scanner_node/list_parametersReply
[DEBUG] [1753349294.270164700] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1753349294.271796615] [rcl]: Service initialized
[DEBUG] [1753349294.273170643] [rcl]: Initializing service for service name ‘qrcode_scanner_node/set_parameters’
[DEBUG] [1753349294.273298066] [rcl]: Expanded service name ‘/qrcode_scanner_node/set_parameters’
[DEBUG] [1753349294.273790174] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1753349294.273858886] [rmw_fastrtps_cpp]: Sub Topic rq/qrcode_scanner_node/set_parametersRequest
[DEBUG] [1753349294.273890304] [rmw_fastrtps_cpp]: Pub Topic rr/qrcode_scanner_node/set_parametersReply
[DEBUG] [1753349294.273922639] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1753349294.275526595] [rcl]: Service initialized
[DEBUG] [1753349294.276805034] [rcl]: Initializing service for service name ‘qrcode_scanner_node/set_parameters_atomically’
[DEBUG] [1753349294.276937833] [rcl]: Expanded service name ‘/qrcode_scanner_node/set_parameters_atomically’
[DEBUG] [1753349294.277431149] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1753349294.277572240] [rmw_fastrtps_cpp]: Sub Topic rq/qrcode_scanner_node/set_parameters_atomicallyRequest
[DEBUG] [1753349294.277605700] [rmw_fastrtps_cpp]: Pub Topic rr/qrcode_scanner_node/set_parameters_atomicallyReply
[DEBUG] [1753349294.277634493] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1753349294.279245157] [rcl]: Service initialized
[DEBUG] [1753349294.293595464] [rcl]: Initializing publisher for topic name ‘/qrcode_image’
[DEBUG] [1753349294.293758098] [rcl]: Expanded topic name ‘/qrcode_image’
[DEBUG] [1753349294.296214221] [rcl]: Publisher initialized
[DEBUG] [1753349294.297383905] [rcl]: Initializing publisher for topic name ‘/qrcode_text’
[DEBUG] [1753349294.297511245] [rcl]: Expanded topic name ‘/qrcode_text’
[DEBUG] [1753349294.299132785] [rcl]: Publisher initialized
[DEBUG] [1753349294.299888157] [rcl]: Initializing subscription for topic name ‘/image_compressed’
[DEBUG] [1753349294.299996912] [rcl]: Expanded topic name ‘/image_compressed’
[DEBUG] [1753349294.301152220] [rcl]: Subscription initialized
[INFO] [1753349294.411300982] [qrcode_scanner_node]: already started
[DEBUG] [1753349294.412637342] [rcl]: Initializing wait set with ‘1’ subscriptions, ‘2’ guard conditions, ‘0’ timers, ‘0’ clients, ‘6’ services
[DEBUG] [1753349294.412820559] [rcl]: Waiting without timeout
[DEBUG] [1753349294.412860894] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [1753349294.412934273] [rcl]: Guard condition in wait set is ready
[DEBUG] [1753349294.413563888] [rcl]: Initializing wait set with ‘1’ subscriptions, ‘2’ guard conditions, ‘0’ timers, ‘0’ clients, ‘6’ services
[DEBUG] [1753349294.413699978] [rcl]: Waiting without timeout
[DEBUG] [1753349294.413736397] [rcl]: Timeout calculated based on next scheduled timer: false
usb_websocket_display.launch.txt (4.5 KB)
qr_code_detection.txt (3.7 KB)