2D Nav Goal无法使用 或 rviz-gazebo数据交互出问题

报错一导致2D Nav Goal无法使用：

一、[move_base-4] process has died [pid 51240, exit code -11, cmd /opt/ros/noetic/lib/move_base/move_base cmd_vel:=/cmd_vel odom:=odom __name:=move_base __log:=/home/suxin/.ros/log/19af62f2-16e6-11ed-83d5-a732b3e56ae3/move_base-4.log].
log file: /home/suxin/.ros/log/19af62f2-16e6-11ed-83d5-a732b3e56ae3/move_base-4*.log

二、terminate called after throwing an instance of 'std::bad_alloc'  

what():  std::bad_alloc

process has died

解决方案：

        可能是基本的ros库没有安装完毕，笔者在互联网上找到很多文章，也装了很多库，但是实在不知道哪些装了有用，哪些装了没起到效果。

笔者最后一次装的是：

sudo apt install ros-noetic-costmap-2d

成功运行

 在此之前还安装了

sudo apt install ros-noetic-move-base* ros-noetic-turtlebot3-* ros-noetic-dwa-local-planner

sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc ros-noetic-rgbd-launch ros-noetic-depthimage-to-laserscan ros-noetic-rosserial-arduino ros-noetic-rosserial-python ros-noetic-rosserial-server ros-noetic-rosserial-client ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro ros-noetic-compressed-image-transport ros-noetic-rqt-image-view ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers

等等还有其它，小伙伴们可以试试这个 。

报错二ros报错找不到/scan topic

[ WARN] [1660205637.803840805, 43.855000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1660205644.173598275, 48.889000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1660205651.404911634, 53.919000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1660205652.162267939, 54.350000000]: No laser scan received (and thus no pose updates have been published) for 54.350000 seconds.  Verify that data is being published on the /scan topic.
[ WARN] [1660205660.503861628, 58.956000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.

 解决方案：安装相关依赖库

sudo apt install ros-noetic-gazebo-ros-pkgs   ros-noetic-gazebo-msgs   ros-noetic-gazebo-plugins   ros-noetic-gazebo-ros-control