“ ros2参数列表”的输出不一致

问题描述

我目前正在WSL2的Docker容器中运行ROS2 Foxy。我正在经历the ROS2 tutorials，所以我正在运行节点/turtlesim和/teleop_turtle。由于某些原因，即使重新引导Docker容器后，ros2 param list的输出也是不一致的。是什么导致此问题，如何解决？这是相关的终端转储：

mddmprovost@ros2_foxy<DOCKER:a2bb8d3f7a78>:~ $ ros2 param list
mddmprovost@ros2_foxy<DOCKER:a2bb8d3f7a78>:~ $ rqt_graph
QStandardPaths: XDG_RUNTIME_DIR not set,defaulting to '/tmp/runtime-mddmprovost'
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
mddmprovost@ros2_foxy<DOCKER:a2bb8d3f7a78>:~ $ ros2 param list
/teleop_turtle:
  scale_angular
  scale_linear
  use_sim_time
mddmprovost@ros2_foxy<DOCKER:a2bb8d3f7a78>:~ $ ros2 node list
/teleop_turtle
/turtlesim
mddmprovost@ros2_foxy<DOCKER:a2bb8d3f7a78>:~ $ ros2 service list
/clear
/kill
/reset
/spawn
/teleop_turtle/describe_parameters
/teleop_turtle/get_parameter_types
/teleop_turtle/get_parameters
/teleop_turtle/list_parameters
/teleop_turtle/set_parameters
/teleop_turtle/set_parameters_atomically
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtle2/set_pen
/turtle2/teleport_absolute
/turtle2/teleport_relative
/turtlesim/describe_parameters
/turtlesim/get_parameter_types
/turtlesim/get_parameters
/turtlesim/list_parameters
/turtlesim/set_parameters
/turtlesim/set_parameters_atomically
mddmprovost@ros2_foxy<DOCKER:a2bb8d3f7a78>:~ $ ros2 topic list
/parameter_events
/rosout
/turtle1/cmd_vel
/turtle1/color_sensor
/turtle1/pose
/turtle2/cmd_vel
/turtle2/color_sensor
/turtle2/pose
mddmprovost@ros2_foxy<DOCKER:a2bb8d3f7a78>:~ $ ros2 param list
mddmprovost@ros2_foxy<DOCKER:a2bb8d3f7a78>:~ $ ros2 param list
/teleop_turtle:
  scale_angular
  scale_linear
  use_sim_time
/turtlesim:
  background_b
  background_g
  background_r
  use_sim_time
mddmprovost@ros2_foxy<DOCKER:a2bb8d3f7a78>:~ $ ros2 param list
mddmprovost@ros2_foxy<DOCKER:a2bb8d3f7a78>:~ $ exit  #exit in other terminals too,reboot the docker container,re-run turtlesim_node and turtle_teleop_key
exit
mddmprovost@DESKTOP-21RFLUN:~/Dockerfiles/ros2_foxy.master $ ./attach.sh
[sudo] password for mddmprovost:
mddmprovost@ros2_foxy<DOCKER:0a7db511bf2b>:~ $ ros2 param list
/teleop_turtle:
  scale_angular
  scale_linear
  use_sim_time
/turtlesim:
  background_b
  background_g
  background_r
  use_sim_time
mddmprovost@ros2_foxy<DOCKER:0a7db511bf2b>:~ $ ros2 param list
mddmprovost@ros2_foxy<DOCKER:0a7db511bf2b>:~ $ ros2 param list
/turtlesim:
  background_b
  background_g
  background_r
  use_sim_time
mddmprovost@ros2_foxy<DOCKER:0a7db511bf2b>:~ $ ros2 param list
/teleop_turtle:
  scale_angular
  scale_linear
  use_sim_time
mddmprovost@ros2_foxy<DOCKER:0a7db511bf2b>:~ $

解决方法

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