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  1. Gravatar 头像

    任忠良 回复

    古老师你好,在运行这条命令是出错rosrun turtlesim turtlesim_node
    /opt/ros/melodic/lib/turtlesim/turtlesim_node: error while loading shared libraries: libQt5Widgets.so.5: cannot open shared object file: No such file or directory

    • 古月

      古月 回复

      @任忠良 书中的环境使用ros kinetic,这个错误因该是qt不同导致的,安装一下qt5试试

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    任忠良 回复

    在运行这条命令是出错rosrun turtlesim turtlesim_node
    /opt/ros/melodic/lib/turtlesim/turtlesim_node: error while loading shared libraries: libQt5Widgets.so.5: cannot open shared object file: No such file or directory

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    ken 回复

    古月老师,您好,我按照书上操作在编译cartographer时出现了
    ==> ninja -j8 -l8 in '/home/ken/ros/catkin_google_ws/build_isolated/cartographer/install'
    [8/338] Running C++ protocol buffer compiler on /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/mapping/proto/3d/submaps_options_3d.proto
    FAILED: cd /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install && /usr/bin/protoc --cpp_out /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install -I /home/ken/ros/catkin_google_ws/src/cartographer /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/mapping/proto/3d/submaps_options_3d.proto
    cartographer/mapping/proto/3d/submaps_options_3d.proto:15:10: Unrecognized syntax identifier "proto3". This parser only recognizes "proto2".
    [8/338] Running C++ protocol buffer compiler on /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/transform/proto/transform.proto
    FAILED: cd /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install && /usr/bin/protoc --cpp_out /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install -I /home/ken/ros/catkin_google_ws/src/cartographer /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/transform/proto/transform.proto
    cartographer/transform/proto/transform.proto:15:10: Unrecognized syntax identifier "proto3". This parser only recognizes "proto2".
    [8/338] Running C++ protocol buffer compiler on /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/common/proto/ceres_solver_options.proto
    FAILED: cd /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install && /usr/bin/protoc --cpp_out /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install -I /home/ken/ros/catkin_google_ws/src/cartographer /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/common/proto/ceres_solver_options.proto
    cartographer/common/proto/ceres_solver_options.proto:15:10: Unrecognized syntax identifier "proto3". This parser only recognizes "proto2".
    [8/338] Running C++ protocol buffer compiler on /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/mapping/proto/connected_components.proto
    FAILED: cd /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install && /usr/bin/protoc --cpp_out /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install -I /home/ken/ros/catkin_google_ws/src/cartographer /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/mapping/proto/connected_components.proto
    cartographer/mapping/proto/connected_components.proto:15:10: Unrecognized syntax identifier "proto3". This parser only recognizes "proto2".
    [8/338] Running C++ protocol buffer compiler on /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/mapping/proto/submap.proto
    FAILED: cd /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install && /usr/bin/protoc --cpp_out /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install -I /home/ken/ros/catkin_google_ws/src/cartographer /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/mapping/proto/submap.proto
    cartographer/mapping/proto/submap.proto:15:10: Unrecognized syntax identifier "proto3". This parser only recognizes "proto2".
    [8/338] Running C++ protocol buffer compiler on /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/mapping/proto/2d/submaps_options_2d.proto
    FAILED: cd /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install && /usr/bin/protoc --cpp_out /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install -I /home/ken/ros/catkin_google_ws/src/cartographer /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/mapping/proto/2d/submaps_options_2d.proto
    cartographer/mapping/proto/2d/submaps_options_2d.proto:15:10: Unrecognized syntax identifier "proto3". This parser only recognizes "proto2".
    [8/338] Running C++ protocol buffer compiler on /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/mapping/proto/trajectory_node_data.proto
    FAILED: cd /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install && /usr/bin/protoc --cpp_out /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install -I /home/ken/ros/catkin_google_ws/src/cartographer /home/ken/ros/catkin_google_ws/src/cartographer/cartographer/mapping/proto/trajectory_node_data.proto
    cartographer/mapping/proto/trajectory_node_data.proto:15:10: Unrecognized syntax identifier "proto3". This parser only recognizes "proto2".
    [8/338] cd /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install && bash -c "find /h...sed 's/^/#/' > /home/ken/ros/catkin_google_ws/build_isolated/cartographer/install/AllFiles.cmake"
    ninja: build stopped: subcommand failed.
    cd /home/ken/ros/catkin_google_ws/build_isolated/cartographer && /home/ken/ros/catkin_google_ws/install_isolated/env.sh ninja -j8 -l8

    Command failed, exiting.
    请问一下,是什么原因呢?要如何操作?谢谢

    • 古月

      古月 回复

      @ken 应该是proto3没有安装好,这是google的一个协议,网上搜下安装方法

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    杨培盛 回复

    你好,请问可以给个电子书下载链接吗?

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    Irving 回复

    古月老师您好,我在按照您书上的步骤,做到第9章cartographer仿真的时候,
    roslaunch cartographer_ros cartographer_demo_rplidar.launch 出现了以下问题:
    [FATAL] [1535891067.172192652]: F0902 20:24:27.000000 11796 lua_parameter_dictionary.cc:83] Check failed: status == 0 (2 vs. 0) [string "-- Copyright 2016 The Cartographer Authors..."]:53: attempt to index global 'SPARSE_POSE_GRAPH' (a nil value)

    [cartographer_node-1] process has died [pid 11796, exit code -6, cmd /home/irving/catkin_google_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/irving/catkin_google_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename rplidar.lua scan:=scan __name:=cartographer_node __log:=/home/irving/.ros/log/a759cfbc-aea7-11e8-8fa9-b06ebf8446b0/cartographer_node-1.log].
    log file: /home/irving/.ros/log/a759cfbc-aea7-11e8-8fa9-b06ebf8446b0/cartographer_node-1*.log
    我自己检查了rplidar,lua和cartographer_demo_rplidar.launch 文件都是没有错误的,请问这是什么原因呢?官方的demo我是可以跑过的,按照您书上的例程,进入rviz显示没有map这个topic,求解,谢谢!

    • 古月

      古月 回复

      @Irving cartographer版本更新比较快,有可能是参数有变化,看以上错误提示可能是和lua参数有关,对比一下demo使用的lua和官方demo使用的lua有没有什么区别,或者在官方lua参数的基础上修改一下,试下是否可行

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        Irving 回复

        @古月 谢谢古月老师,我自己研究了一下,是原来的revo_lds.lua文件中不能删除项目,而且书上的SRARSE_POSE_GRAPH现在已经更新到POSE_GRAPH了,不过这样修改好之后虽然可以应用在自己机器人上面进行仿真,但是却没有map movebase等topic,因此没有办法保存地图以及后续导航,请问这是什么原因呢?

        • 古月

          古月 回复

          @Irving 请参考:https://www.e-learn.cn/content/qita/789657

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    Berton 回复

    古月老师好,
    如果想开发一款AGV的叉车控制盒子,用ROS2好还是ROS1好,或者有没有更好的选择。
    当前我们还在项目的评估阶段,期待你的回复。

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    zjq 回复

    老师您好,请问没有什么硬件条件,只是自学的话,还能深入学习ROS吗,这本书对硬件条件要求高吗?

    • 古月

      古月 回复

      @zjq 硬件没有要求,不需要硬件一样可以使用这本书里的所有内容

  8. Gravatar 头像

    回复

    hello,古月老师。《ROS机器人开发实践》中第8章语音8.1.2 roslaunch pocketsphinx robocup.launch时 python找不到pygst module,8.1.1中的依赖库也安装了。百度没有找到这个包怎么装,pip 和easy_install 也没有找到相应的包。这个pygst是那个库中的?需要重新安装什么依赖包吗?望指点~谢谢啦~

    • 古月

      古月 回复

      @镔 网上有很多这个问题的相关内容,参考:https://stackoverflow.com/questions/44878374/python-no-module-named-pygst

      • Gravatar 头像

        回复

        @古月 谢谢老师~sudo apt-get install python-gst0.10之后就解决了,之前只想着pip和easy_install了

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    懒人匠师 回复

    3.9章,多机通信部分:安装古月的做法把PC作为Master,在从机树莓派中运行节点没有问题。但是按照同样的原理,反过来在树莓派上运行主Master(roscore),PC作为从机运行节点(设置了ROS_MSATER_URI),总是提示找不到Master。请指点一下这是什么原因呢?

    • 古月

      古月 回复

      @懒人匠师 参考:https://blog.csdn.net/qq_36501182/article/details/78834418
      有一个ROS_IP设置一下试试

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    苍野之鹰 回复

    古老师,我是ros新手,我买了这本书,按照第10页的下载源码,并编译,我把ros2删掉了,还是不能编译通过啊
    CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
    Could not find a package configuration file provided by "ecto" with any of
    the following names:

    ectoConfig.cmake
    ecto-config.cmake

    Add the installation prefix of "ecto" to CMAKE_PREFIX_PATH or set
    "ecto_DIR" to a directory containing one of the above files. If "ecto"
    provides a separate development package or SDK, be sure it has been
    installed.
    Call Stack (most recent call first):
    ros_exploring/robot_perception/ork_tutorials/CMakeLists.txt:4 (find_package)

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

    • 古月

      古月 回复

      @苍野之鹰 类似的错误都是因为你的电脑上缺少某个包,使用类似的形式安装:sudo apt-get install ros-kinetic-ecto

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    EdVince 回复

    我在重现你书中3.7 服务中的Server和Client这个的时候,在最后用catkin_make命令编译功能包的时候,报错了,说是在server.cpp和client.cpp这两个文件中,#include “learning_communication/AddTwoInts.h”这一行的这个.h文件,make的时候报错说找不到??你书中写的是“该头文件根据我们之前创建的服务数据类型的描述文件AddTwoInts.srv自动生成”,我想问问怎么解决??

    • 古月

      古月 回复

      @EdVince 首先确认是否有实现了AddTwoInts.srv这个文件,然后对照书配套源码中的cmakelist,检查相关的编译选项有没有设置,设置正确的话,会自动生成头文件

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    王新 回复

    你好 古月老师 买啦你的课程和书很有收获 可是有个问题百思不得解
    就是在进行动作通信的时候遇到这样一个问题

    CMake Error at /opt/ros/kinetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):
    execute_process(/home/wang/catkin_ws/build/catkin_generated/env_cached.sh
    "/usr/bin/python" "/usr/bin/empy" "--raw-errors" "-F"
    "/home/wang/catkin_ws/build/learning_communication/cmake/learning_communication-genmsg-context.py"
    "-o"
    "/home/wang/catkin_ws/build/learning_communication/cmake/learning_communication-genmsg.cmake"
    "/opt/ros/kinetic/share/genmsg/cmake/pkg-genmsg.cmake.em") returned error
    code 1
    Call Stack (most recent call first):
    /opt/ros/kinetic/share/catkin/cmake/em_expand.cmake:25 (safe_execute_process)
    /opt/ros/kinetic/share/genmsg/cmake/genmsg-extras.cmake:303 (em_expand)
    learning_communication/CMakeLists.txt:81 (generate_messages)

    -- Configuring incomplete, errors occurred!
    See also "/home/wang/catkin_ws/build/CMakeFiles/CMakeOutput.log".
    See also "/home/wang/catkin_ws/build/CMakeFiles/CMakeError.log".
    Makefile:934: recipe for target 'cmake_check_build_system' failed
    make: *** [cmake_check_build_system] Error 1
    Invoking "make cmake_check_build_system" failed

    • 古月

      古月 回复

      @王新 应该是程序或者cmakelist里边有哪个地方写错了,对照例程检查一下

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    水清 回复

    古月,你好。
    买来你的书感觉很有收获,跟着内容实现自己的东西,出现了一个百思不得其解的问题。我在用moveit和gazebo连接在一起时,load trajectory.yaml时,发现无法加载position_controllers/JointTrajectoryController参数时,出错。
    yaml文件:
    1 slave:
    2 slave_joint_controller:
    3 type: position_controllers/JointTrajectoryController
    4 joints:
    5 - base_arm1_Joint
    6 - arm1_arm2_Joint
    7 - arm2_arm3_Joint
    8 - arm3_arm4_Joint
    9 - arm4_arm5_Joint
    10 - arm5_arm6_Joint
    11
    12
    13 gains:
    14 base_arm1_Joint: {p: 100.0, i: 0.0, d: 0.1, i_clamp: 0.0}
    15 arm1_arm2_Joint: {p: 100.0, i: 0.0, d: 0.1, i_clamp: 0.0}
    16 arm2_arm3_Joint: {p: 100.0, i: 0.0, d: 0.1, i_clamp: 0.0}
    17 arm3_arm4_Joint: {p: 100.0, i: 0.0, d: 0.1, i_clamp: 0.0}
    18 arm4_arm5_Joint: {p: 100.0, i: 0.0, d: 0.1, i_clamp: 0.0}
    19 arm5_arm6_Joint: {p: 100.0, i: 0.0, d: 0.1, i_clamp: 0.0}
    launch文件:

    报错提示:
    SUMMARY
    ========

    PARAMETERS
    * /rosdistro: kinetic
    * /rosversion: 1.12.13
    * /slave/arm1_arm2_Joint/d: 0.1
    * /slave/arm1_arm2_Joint/i: 0.0
    * /slave/arm1_arm2_Joint/i_clamp: 0.0
    * /slave/arm1_arm2_Joint/p: 100.0
    * /slave/arm2_arm3_Joint/d: 0.1
    * /slave/arm2_arm3_Joint/i: 0.0
    * /slave/arm2_arm3_Joint/i_clamp: 0.0
    * /slave/arm2_arm3_Joint/p: 100.0
    * /slave/arm3_arm4_Joint/d: 0.1
    * /slave/arm3_arm4_Joint/i: 0.0
    * /slave/arm3_arm4_Joint/i_clamp: 0.0
    * /slave/arm3_arm4_Joint/p: 100.0
    * /slave/arm4_arm5_Joint/d: 0.1
    * /slave/arm4_arm5_Joint/i: 0.0
    * /slave/arm4_arm5_Joint/i_clamp: 0.0
    * /slave/arm4_arm5_Joint/p: 100.0
    * /slave/arm5_arm6_Joint/d: 0.1
    * /slave/arm5_arm6_Joint/i: 0.0
    * /slave/arm5_arm6_Joint/i_clamp: 0.0
    * /slave/arm5_arm6_Joint/p: 100.0
    * /slave/base_arm1_Joint/d: 0.1
    * /slave/base_arm1_Joint/i: 0.0
    * /slave/base_arm1_Joint/i_clamp: 0.0
    * /slave/base_arm1_Joint/p: 100.0
    * /slave/gains: None
    * /slave/joints: ['base_arm1_Joint...
    * /slave/slave_joint_controller: None
    * /slave/type: position_controll...

    NODES
    /slave/
    slave_controller_spawner (controller_manager/spawner)
    /
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

    auto-starting new master
    process[master]: started with pid [24911]
    ROS_MASTER_URI=http://localhost:11311

    setting /run_id to 0950776c-7491-11e8-bc63-6045cb6cdda3
    process[rosout-1]: started with pid [24924]
    started core service [/rosout]
    load_parameters: unable to set parameters (last param was [/slave/arm5_arm6_Joint/d=0.1]): cannot marshal None unless allow_none is enabled
    Traceback (most recent call last):
    File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 306, in main
    p.start()
    File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 279, in start
    self.runner.launch()
    File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 657, in launch
    self._setup()
    File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 644, in _setup
    self._load_parameters()
    File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 338, in _load_parameters
    r = param_server_multi()
    File "/usr/lib/python2.7/xmlrpclib.py", line 1006, in __call__
    return MultiCallIterator(self.__server.system.multicall(marshalled_list))
    File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
    File "/usr/lib/python2.7/xmlrpclib.py", line 1596, in __request
    allow_none=self.__allow_none)
    File "/usr/lib/python2.7/xmlrpclib.py", line 1094, in dumps
    data = m.dumps(params)
    File "/usr/lib/python2.7/xmlrpclib.py", line 638, in dumps
    dump(v, write)
    File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
    f(self, value, write)
    File "/usr/lib/python2.7/xmlrpclib.py", line 719, in dump_array
    dump(v, write)
    File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
    f(self, value, write)
    File "/usr/lib/python2.7/xmlrpclib.py", line 741, in dump_struct
    dump(v, write)
    File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
    f(self, value, write)
    File "/usr/lib/python2.7/xmlrpclib.py", line 719, in dump_array
    dump(v, write)
    File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
    f(self, value, write)
    File "/usr/lib/python2.7/xmlrpclib.py", line 664, in dump_nil
    raise TypeError, "cannot marshal None unless allow_none is enabled"
    TypeError: cannot marshal None unless allow_none is enabled

    大神可否给点指导,看看是什么原因,程序一调调几天,实在是低落。

    • 古月

      古月 回复

      @水清 参考一下:https://answers.ros.org/question/165686/how-to-solve-the-error-annot-marshal-none-unless-allow_none-is-enabled/
      应该是有一个参数没设置值

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    旺仔 回复

    你好,我想问一下,在运行mrobot_teleop文件时,出现cannot launch node of type [mrobot_teleop/mrobot_teleop.py]: can't locate node [mrobot_teleop.py] in package [mrobot_teleop]
    并且在工作空间运行catkin_make时出现一下错误:
    Scanning dependencies of target _action_tutorials_generate_messages_check_deps_DoDishesFeedback
    /usr/bin/ld: 找不到 -lmsc
    collect2: error: ld returned 1 exit status
    [ 8%] Built target _action_tutorials_generate_messages_check_deps_DoDishesFeedback

    Makefile:138: recipe for target 'all' failed
    make: *** [all] Error 2
    Invoking "make -j4 -l4" failed

    • 古月

      古月 回复

      @旺仔 首先需要把源码中的robot_voice里的libmsc拷贝到/usr/lib目录下,然后给mrobot_teleop/mrobot_teleop.py文件添加可执行权限

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        旺仔 回复

        @古月 实在是困扰我很久的一个小问题,原本不想麻烦你。我讲robot_voice拷贝到/usr/lib目录下后,仍然有这个问题。
        /usr/bin/ld:无法打开输出文件 /home/qinpeiwang/catkin_ws/devel/lib/robot_voice/iat_publish:没有那个文件或目录
        collect2: error: ld returned 1 exit status
        ros_exploring-master/robot_perception/robot_voice/CMakeFiles/iat_publish.dir/build.make:165: recipe for target '/home/qinpeiwang/catkin_ws/devel/lib/robot_voice/iat_publish' failed
        make[2]: *** [/home/qinpeiwang/catkin_ws/devel/lib/robot_voice/iat_publish] Error 1
        CMakeFiles/Makefile2:2687: recipe for target 'ros_exploring-master/robot_perception/robot_voice/CMakeFiles/iat_publish.dir/all' failed
        make[1]: *** [ros_exploring-master/robot_perception/robot_voice/CMakeFiles/iat_publish.dir/all] Error 2
        make[1]: *** 正在等待未完成的任务....
        /usr/bin/ld:无法打开输出文件 /home/qinpeiwang/catkin_ws/devel/lib/robot_voice/voice_assistant:没有那个文件或目录

        • 古月

          古月 回复

          @旺仔 不需要拷贝robot_voice,只需要把里边的库拷贝就行了。检查一下工作空间有没有编译成功,编译成功才有可执行文件生成

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            旺仔 回复

            @古月 是的,我分别将ros_exploring-master/robot_perception/robot_voice/里的iat_publish、tts_subscribe.cpp、voice_assistant.cpp拷贝到/catkin_ws/devel/lib/robot_voice/里,出现的错误代码如下:(还劳烦解答一下)
            [ 6%] Built target _action_tutorials_generate_messages_check_deps_DoDishesActionGoal
            /usr/bin/ld: 找不到 -lmsc
            collect2: error: ld returned 1 exit status
            ros_exploring-master/robot_perception/robot_voice/CMakeFiles/iat_publish.dir/build.make:165: recipe for target '/home/qinpeiwang/catkin_ws/devel/lib/robot_voice/iat_publish' failed
            make[2]: *** [/home/qinpeiwang/catkin_ws/devel/lib/robot_voice/iat_publish] Error 1
            CMakeFiles/Makefile2:2687: recipe for target 'ros_exploring-master/robot_perception/robot_voice/CMakeFiles/iat_publish.dir/all' failed
            make[1]: *** [ros_exploring-master/robot_perception/robot_voice/CMakeFiles/iat_publish.dir/all] Error 2

            • 古月

              古月 回复

              @旺仔 在robot_voice里有一个libmsc的库,需要拷贝到系统/usr/lib下边

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        旺仔 回复

        @古月 运行marm_planning文件夹中的moveit_ik_demo.py文件,总是错误提示找不到该文件
        [rosrun] Couldn't find executable named moveit_ik_demo.py below /home/qinpeiwang/catkin_ws/src/ros_exploring-master/robot_marm/marm_planning
        [rosrun] Found the following, but they're either not files,
        [rosrun] or not executable:
        [rosrun] /home/qinpeiwang/catkin_ws/src/ros_exploring-master/robot_marm/marm_planning/scripts/moveit_ik_demo.py

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          蹦点儿 回复

          @旺仔 请问你解决这个问题了嘛?我也遇到了同样的问题

        • 古月

          古月 回复

          @旺仔 这个问题是因为没有给python文件添加可执行权限,用chmod +x添加

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