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(base) liuzhili@liuzhili-virtual-machine:~/test/task_2$ source insatll/setup.bash
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bash: insatll/setup.bash: 没有那个文件或目录
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(base) liuzhili@liuzhili-virtual-machine:~/test/task_2$ source install/setup.bash
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(base) liuzhili@liuzhili-virtual-machine:~/test/task_2$ ros2 launch t_shape_robot t_shape_robot.launch.py
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[INFO] [launch]: All log files can be found below /home/liuzhili/.ros/log/2025-10-06-22-34-43-279985-liuzhili-virtual-machine-222291
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[INFO] [launch]: Default logging verbosity is set to INFO
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[INFO] [robot_state_publisher-1]: process started with pid [222293]
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[INFO] [joint_state_publisher-2]: process started with pid [222295]
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[INFO] [t_shape_controller-3]: process started with pid [222297]
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[INFO] [rviz2-4]: process started with pid [222299]
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[robot_state_publisher-1] [INFO] [1759761283.337545370] [robot_state_publisher]: got segment back_caster
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[robot_state_publisher-1] [INFO] [1759761283.338060178] [robot_state_publisher]: got segment base_link
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[robot_state_publisher-1] [INFO] [1759761283.338073527] [robot_state_publisher]: got segment front_caster
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[robot_state_publisher-1] [INFO] [1759761283.338076490] [robot_state_publisher]: got segment left_wheel
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[robot_state_publisher-1] [INFO] [1759761283.338079002] [robot_state_publisher]: got segment right_wheel
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[robot_state_publisher-1] [INFO] [1759761283.338081385] [robot_state_publisher]: got segment sensor_platform
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[rviz2-4] qt.qpa.plugin: Could not find the Qt platform plugin "wayland" in ""
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[rviz2-4] [INFO] [1759761283.623235863] [rviz2]: Stereo is NOT SUPPORTED
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[rviz2-4] [INFO] [1759761283.623623244] [rviz2]: OpenGl version: 4.3 (GLSL 4.3)
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[rviz2-4] [INFO] [1759761283.718265919] [rviz2]: Stereo is NOT SUPPORTED
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[joint_state_publisher-2] [INFO] [1759761283.802168798] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
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[t_shape_controller-3] [INFO] [1759761284.075599764] [t_shape_controller]: T字形控制器已启动（智能动态距离计算版本）
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[t_shape_controller-3] [INFO] [1759761284.076692969] [t_shape_controller]: 参数: 宽度=3.0m, 高度=2.0m, 速度=0.3m/s
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[t_shape_controller-3] [INFO] [1759761290.755411430] [t_shape_controller]: 记录T字中心点: (1.9800, 0.0000)
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[t_shape_controller-3] [INFO] [1759761342.615276100] [t_shape_controller]: 完成一轮T字形轨迹，开始新循环
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[t_shape_controller-3] [INFO] [1759761349.295723665] [t_shape_controller]: 记录T字中心点: (1.9380, 0.0000)
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[t_shape_controller-3] [INFO] [1759761401.195778096] [t_shape_controller]: 完成一轮T字形轨迹，开始新循环
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[t_shape_controller-3] [INFO] [1759761407.875420018] [t_shape_controller]: 记录T字中心点: (1.8060, 0.0000)
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[t_shape_controller-3] [INFO] [1759761459.395890724] [t_shape_controller]: 完成一轮T字形轨迹，开始新循环
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[t_shape_controller-3] [INFO] [1759761466.159690198] [t_shape_controller]: 记录T字中心点: (1.3620, 0.0000)
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[t_shape_controller-3] [INFO] [1759761515.355191650] [t_shape_controller]: 完成一轮T字形轨迹，开始新循环
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[t_shape_controller-3] [INFO] [1759761522.035427212] [t_shape_controller]: 记录T字中心点: (1.8000, 0.0000)
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[t_shape_controller-3] [INFO] [1759761571.855764944] [t_shape_controller]: 完成一轮T字形轨迹，开始新循环
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[t_shape_controller-3] [INFO] [1759761578.535536532] [t_shape_controller]: 记录T字中心点: (1.8360, 0.0000)
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[t_shape_controller-3] [INFO] [1759761629.855242088] [t_shape_controller]: 完成一轮T字形轨迹，开始新循环
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[t_shape_controller-3] [INFO] [1759761636.535517041] [t_shape_controller]: 记录T字中心点: (1.8480, 0.0000)
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[t_shape_controller-3] [INFO] [1759761687.675380560] [t_shape_controller]: 完成一轮T字形轨迹，开始新循环
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[t_shape_controller-3] [INFO] [1759761694.356269790] [t_shape_controller]: 记录T字中心点: (1.7100, 0.0000)
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