LookupError: Could not find the resource 'nav2_bringup' of type 'packages'

Question

LookupError: Could not find the resource 'nav2_bringup' of type 'packages'

Axin630 opened this issue 2 years ago · 6 comments

when i try to Start RViz,it said:

[INFO] [launch]: All log files can be found below /home/axin/.ros/log/2022-05-25-06-40-00-383023-axin-vpc-3298
[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/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=InvalidLaunchFileError('py')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
content, package_prefix = get_resource('packages', package_name)
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
raise LookupError(
LookupError: Could not find the resource 'nav2_bringup' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/opt/ros/foxy/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/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
return getattr(launch_file_module, 'generate_launch_description')()
File "/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example/share/unity_slam_example/unity_slam_example.py", line 31, in generate_launch_description
os.path.join(get_package_share_directory('nav2_bringup'), 'launch', 'navigation_launch.py')
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 70, in get_package_share_directory
return os.path.join(get_package_prefix(package_name), 'share', package_name)
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'nav2_bringup' not found, searching: ['/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example', '/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/ros_tcp_endpoint', '/opt/ros/foxy']"

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/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/ros/foxy/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/ros/foxy/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/ros/foxy/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/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/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/ros/foxy/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/ros/foxy/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/ros/foxy/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]: "package 'nav2_bringup' not found, searching: ['/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example', '/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/ros_tcp_endpoint', '/opt/ros/foxy']"

Answer 1 · 2022-12-20T11:15:08.000Z

when i try to Start RViz,it said:

[INFO] [launch]: All log files can be found below /home/axin/.ros/log/2022-05-25-06-40-00-383023-axin-vpc-3298 [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/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=InvalidLaunchFileError('py')> Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix content, package_prefix = get_resource('packages', package_name) File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource raise LookupError( LookupError: Could not find the resource 'nav2_bringup' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/foxy/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/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file return getattr(launch_file_module, 'generate_launch_description')() File "/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example/share/unity_slam_example/unity_slam_example.py", line 31, in generate_launch_description os.path.join(get_package_share_directory('nav2_bringup'), 'launch', 'navigation_launch.py') File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 70, in get_package_share_directory return os.path.join(get_package_prefix(package_name), 'share', package_name) File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix raise PackageNotFoundError( ament_index_python.packages.PackageNotFoundError: "package 'nav2_bringup' not found, searching: ['/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example', '/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/ros_tcp_endpoint', '/opt/ros/foxy']"

The above exception was the direct cause of the following exception:

Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event await self.__process_event(next_event) File "/opt/ros/foxy/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/ros/foxy/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/ros/foxy/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/ros/foxy/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/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit return self.execute(context) File "/opt/ros/foxy/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/ros/foxy/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/ros/foxy/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/ros/foxy/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]: "package 'nav2_bringup' not found, searching: ['/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example', '/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/ros_tcp_endpoint', '/opt/ros/foxy']"

Hi，I also get involved with this error，have you solved this error later？If you do，could you please give me some advice？

Answer 2 · 2022-12-20T20:19:55.000Z

I came up with the same issue and finally found a solution @Hezhexi2002 . In the Dockfile it seems to be two bugs:

By default ros-galactic**-ros-base** will be installed, this does not include nav2-bringup, navigation2 and rviz2, but these packages will be needed.
"RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654" doesn't work probably in Docker.
GPG error (solved by #49 (comment))

My environment:
Host: Win 10, Docker Desktop 20.10.21

So i updated the Dockerfile to the following and it works for me:

# adapted from: https://github.com/Tiryoh/docker-ros2-desktop-vnc
FROM dorowu/ubuntu-desktop-lxde-vnc:focal
LABEL maintainer="Unity Robotics <unity-robotics@unity3d.com>"

ENV DEBIAN_FRONTEND noninteractive
ENV DEV_NAME=rosdev
ENV ROS_DISTRO=galactic
ENV GROUP_NAME=ros
ENV WS_NAME=colcon_ws

RUN wget -q -O - https://dl.google.com/linux/linux_signing_key.pub | apt-key add -

RUN echo "Set disable_coredump false" >> /etc/sudo.conf
RUN apt-get update -q && \
    apt-get upgrade -yq && \
    apt-get install -yq \
        wget \
        curl \
        git \
        build-essential \
        vim \
        sudo \
        gnupg2 \
        lsb-release \
        locales \
        bash-completion \
        tzdata \
        gosu \
        python3-argcomplete \
        python3-pip \
    && rm -rf /var/lib/apt/lists/*

# Install the immutable components BEFORE we copy in build context stuff to keep the rebuild process manageable
RUN curl http://repo.ros2.org/repos.key | sudo apt-key add -
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
    echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > \
        /etc/apt/sources.list.d/ros2-latest.list && \
    apt-get update -q && \
    apt-get install -y --no-install-recommends \
      ros-${ROS_DISTRO}-desktop \
      python3-rosdep \
      python3-colcon-common-extensions \
      python3-vcstool \
      ros-galactic-navigation2 \
      ros-galactic-nav2-bringup \
    && rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list

RUN useradd --create-home --home-dir /home/${DEV_NAME} --shell /bin/bash --user-group --groups adm,sudo ${DEV_NAME} && \
    echo "$DEV_NAME:$DEV_NAME" | chpasswd && \
    echo "$DEV_NAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
COPY --chown=${DEV_NAME} colcon_ws /home/${DEV_NAME}/colcon_ws
COPY ros2-setup.bash /bin/ros2-setup.bash
# Doing a second fetch of sources & apt-get update here, because these ones depend on the state of the build context
# in our repo
RUN curl http://repo.ros2.org/repos.key | sudo apt-key add -
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
    echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > \
        /etc/apt/sources.list.d/ros2-latest.list && \
    apt-get update -q && \
    rosdep init && \
    chmod +x /bin/ros2-setup.bash && \
    gosu ${DEV_NAME} /bin/ros2-setup.bash && \
    runuser -u ${DEV_NAME} ros2-setup.bash && \
    rm /bin/ros2-setup.bash && \
    rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list

RUN echo ". /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/${DEV_NAME}/.bashrc && \
    echo ". /home/${DEV_NAME}/${WS_NAME}/install/local_setup.bash" >> /home/${DEV_NAME}/.bashrc

ENV TURTLEBOT3_MODEL=waffle_pi

# To bring up tb3 simulation example (from https://navigation.ros.org/tutorials/docs/navigation2_with_slam.html)
# cd catkin_ws && source install/setup.bash && ros2 launch nav2_bringup tb3_simulation_launch.py slam:=True

# Informs the environment that the default user is not root, but instead DEV_NAME
ENV USER ${DEV_NAME}

Changes:

11 adding "RUN wget -q -O - https://dl.google.com/linux/linux_signing_key.pub | apt-key add -"
34 and 55 adding apt-key for ros2
40 44 45 installing ros2-desktop with nav2 and rviz

Answer 3 · 2022-12-21T02:38:27.000Z

I came up with the same issue and finally found a solution @Hezhexi2002 . In the Dockfile it seems to be two bugs:

By default ros-galactic**-ros-base** will be installed, this does not include nav2-bringup, navigation2 and rviz2, but these packages will be needed.
"RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654" doesn't work probably in Docker.
GPG error (solved by docker build runs into GPG error #49 (comment))

My environment: Host: Win 10, Docker Desktop 20.10.21

So i updated the Dockerfile to the following and it works for me:

# adapted from: https://github.com/Tiryoh/docker-ros2-desktop-vnc
FROM dorowu/ubuntu-desktop-lxde-vnc:focal
LABEL maintainer="Unity Robotics <unity-robotics@unity3d.com>"

ENV DEBIAN_FRONTEND noninteractive
ENV DEV_NAME=rosdev
ENV ROS_DISTRO=galactic
ENV GROUP_NAME=ros
ENV WS_NAME=colcon_ws

RUN wget -q -O - https://dl.google.com/linux/linux_signing_key.pub | apt-key add -

RUN echo "Set disable_coredump false" >> /etc/sudo.conf
RUN apt-get update -q && \
    apt-get upgrade -yq && \
    apt-get install -yq \
        wget \
        curl \
        git \
        build-essential \
        vim \
        sudo \
        gnupg2 \
        lsb-release \
        locales \
        bash-completion \
        tzdata \
        gosu \
        python3-argcomplete \
        python3-pip \
    && rm -rf /var/lib/apt/lists/*

# Install the immutable components BEFORE we copy in build context stuff to keep the rebuild process manageable
RUN curl http://repo.ros2.org/repos.key | sudo apt-key add -
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
    echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > \
        /etc/apt/sources.list.d/ros2-latest.list && \
    apt-get update -q && \
    apt-get install -y --no-install-recommends \
      ros-${ROS_DISTRO}-desktop \
      python3-rosdep \
      python3-colcon-common-extensions \
      python3-vcstool \
      ros-galactic-navigation2 \
      ros-galactic-nav2-bringup \
    && rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list

RUN useradd --create-home --home-dir /home/${DEV_NAME} --shell /bin/bash --user-group --groups adm,sudo ${DEV_NAME} && \
    echo "$DEV_NAME:$DEV_NAME" | chpasswd && \
    echo "$DEV_NAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
COPY --chown=${DEV_NAME} colcon_ws /home/${DEV_NAME}/colcon_ws
COPY ros2-setup.bash /bin/ros2-setup.bash
# Doing a second fetch of sources & apt-get update here, because these ones depend on the state of the build context
# in our repo
RUN curl http://repo.ros2.org/repos.key | sudo apt-key add -
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
    echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > \
        /etc/apt/sources.list.d/ros2-latest.list && \
    apt-get update -q && \
    rosdep init && \
    chmod +x /bin/ros2-setup.bash && \
    gosu ${DEV_NAME} /bin/ros2-setup.bash && \
    runuser -u ${DEV_NAME} ros2-setup.bash && \
    rm /bin/ros2-setup.bash && \
    rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list

RUN echo ". /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/${DEV_NAME}/.bashrc && \
    echo ". /home/${DEV_NAME}/${WS_NAME}/install/local_setup.bash" >> /home/${DEV_NAME}/.bashrc

ENV TURTLEBOT3_MODEL=waffle_pi

# To bring up tb3 simulation example (from https://navigation.ros.org/tutorials/docs/navigation2_with_slam.html)
# cd catkin_ws && source install/setup.bash && ros2 launch nav2_bringup tb3_simulation_launch.py slam:=True

# Informs the environment that the default user is not root, but instead DEV_NAME
ENV USER ${DEV_NAME}

Changes:

11 adding "RUN wget -q -O - https://dl.google.com/linux/linux_signing_key.pub | apt-key add -"
34 and 55 adding apt-key for ros2
40 44 45 installing ros2-desktop with nav2 and rviz

Thank you for your detailed reply,actually the 3 bugs you mentioned above I I have also encountered too at first.For the gpg error,I did follow the docker build runs into GPG error and solve it.Besides,I also change the source.list into the tuna mirror due to the Failed to fetch error in the building process and here is my full Dockerfile Dockerfile.txt.Anyway,I will try the solution you have proposed and give you more feedback later.But in the end, allow me to ask you one more question,have you also meet this situation #57 when you open the SimpleWarehouseScene in the Editor？If so,could you please give me relevant suggestions？I would be very grateful!

Answer 4 · 2022-12-21T08:27:36.000Z

@Hezhexi2002 The third change "40 44 45 installing ros2-desktop with nav2 and rviz" should be the key to fix this issue.
No, i didn't. I suggest you try different graphics settings.

Answer 5 · 2022-12-21T11:01:00.000Z

@Hezhexi2002 The third change "40 44 45 installing ros2-desktop with nav2 and rviz" should be the key to fix this issue. No, i didn't. I suggest you try different graphics settings.

Yes, I used the Dockerfile you provided directly, just replaced source.list with tuna mirror because it will occur an error like below if I doesn't change the source:

but I still got the Failed to fetch error like this after I change the source:

I don't know how the build was successful last time. It seems that I tried a few times after turning off the proxy, but this time no matter whether I turn off the proxyor not, the error still exits.And for #57 didn't change any graphics settings when I open the project,I don't konw why it become green,maybe I really need to change some configurations of the project.Anywway,thank you for your patient reply again,I will keep searching on google to see if there is any solution:-)

Answer 6 · 2023-01-09T12:07:02.000Z

@Hezhexi2002 @wrxsky I had the same problem in Docker. Therefore, I install ROS2 in my locally and can run the example well.