活动介绍

{"level":"warn","ts":1747038774.9778285,"logger":"client","caller":"v3/retry_interceptor.go:62","msg":"retrying of unary invoker failed","target":"etcd-endpoints://0xc0004d0380/#initially=[https://38.12.6.92:2379]","attempt":0,"error":"rpc error: code = DeadlineExceeded desc = latest balancer error: last connection error: connection error: desc = \"transport: Error while dialing dial tcp 38.12.6.92:2379: connect: connection refused\""} {"level":"warn","ts":1747038774.9778814,"logger":"client","caller":"v3/retry_interceptor.go:62","msg":"retrying of unary invoker failed","target":"etcd-endpoints://0xc0003bea80/#initially=[https://156.238.230.124:2379]","attempt":0,"error":"rpc error: code = DeadlineExceeded desc = latest balancer error: last connection error: connection error: desc = \"transport: Error while dialing dial tcp 156.238.230.124:2379: connect: connection refused\""}

时间: 2025-05-12 07:35:29 浏览: 104
<think>嗯,用户遇到了ETCD连接被拒绝的问题,提示是“connection refused”和“deadline exceeded”。我需要先分析可能的原因,然后逐步给出解决方案。根据引用中的信息,可能的原因包括ETCD服务未运行、端口被防火墙阻止、配置错误、证书问题或集群状态异常。 首先,我应该检查ETCD服务是否正常运行。用户可能需要确认etcd的容器或进程是否启动,如果没有,需要启动服务。然后检查端口监听情况,确保2379和2380端口在监听,并且防火墙或安全组没有阻止这些端口。 接下来是配置问题。ETCD的配置文件中可能指定了错误的监听地址,比如使用了127.0.0.1而不是0.0.0.0,导致其他节点无法连接。需要检查配置文件中的advertise-client-urls和listen-client-urls是否正确。 证书问题也是一个可能性,尤其是如果启用了TLS认证。需要确认客户端使用的证书是否有效,并且与ETCD服务器证书匹配。如果证书过期或配置错误,会导致连接失败。 另外,集群状态异常可能导致节点无法加入,比如节点间的网络问题或者仲裁丢失。检查集群健康状态,使用etcdctl命令查看成员列表和健康状况,确保多数节点在线。 用户可能还遇到了网络问题,比如DNS解析失败或网络延迟过高,导致连接超时。需要检查网络连通性,使用telnet或nc测试端口是否可达,同时确认DNS设置正确。 最后,日志分析是关键。查看ETCD的日志可以获取具体的错误信息,比如连接超时、证书错误或集群ID不匹配。根据日志中的提示,进一步排查具体原因。 总结起来,解决方案应该分步骤进行,从服务状态、端口监听、配置检查、证书验证到网络排查,逐步排除可能的问题点。同时,提供相关命令和检查方法,帮助用户实际操作。</think>### ETCD连接被拒绝问题解决方案 #### 1. 检查ETCD服务状态 **核心问题**:ETCD服务未运行或异常终止 - 执行命令检查服务状态: ```bash systemctl status etcd # 系统服务管理 docker ps | grep etcd # 容器化部署检查 ``` - 若服务未启动,使用`systemctl start etcd`或`docker start etcd`重启服务 - 查看日志定位具体错误(容器部署需检查容器日志): ```bash journalctl -u etcd -n 50 # 系统服务日志 docker logs --tail 50 etcd_container_name ``` #### 2. 验证端口连通性 **核心问题**:2379/2380端口被防火墙或安全组拦截[^3][^4] - 本地端口监听检查: ```bash ss -tuln | grep '2379\|2380' # 应显示LISTEN状态 ``` - 跨节点访问测试: ```bash telnet <etcd节点IP> 2379 # 成功应显示空白屏幕 nc -zv <etcd节点IP> 2379 # 成功显示"succeeded" ``` - 若端口不可达,需调整防火墙规则: ```bash iptables -A INPUT -p tcp --dport 2379 -j ACCEPT firewall-cmd --add-port=2379/tcp --permanent ``` #### 3. 检查配置参数 **典型错误配置**:监听地址绑定到127.0.0.1导致外部无法访问[^3] - 配置文件检查路径: - 系统服务:`/etc/etcd/etcd.conf` - 容器部署:环境变量`ETCD_LISTEN_CLIENT_URLS`和`ETCD_ADVERTISE_CL
阅读全文

相关推荐

PS E:\xiangmu\ceshi.pinwu\pwsc-pc3> pnpm install Scope: all 8 workspace projects  WARN  GET https://registry.npmmirror.com/@typescript-eslint%2Feslint-plugin error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/eslint error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/@typescript-eslint%2Fparser error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/eslint-config-prettier error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/eslint-plugin-prettier error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/eslint-plugin-simple-import-sort error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/eslint-plugin-import error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/eslint-plugin-vue error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/vue-eslint-parser error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/@types%2Fkoa-bodyparser error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/@types%2Fkoa error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/@types%2Fkoa-router error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/@types%2Fnode error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/nodemon error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmmirror.com/pm2 error (ERR_INVALID_THIS). Will ret

May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":1747016150.9851491,"caller":"flags/flag.go:113","msg":"recognized and used environment variable","variable-name":"ETCD_ADVERTISE_CLIENT_URLS","variable-value":"https://156.238.230.124:2379"} May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":1747016150.9853253,"caller":"flags/flag.go:113","msg":"recognized and used environment variable","variable-name":"ETCD_DATA_DIR","variable-value":"/var/lib/etcd/default.etcd"} May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":1747016150.985412,"caller":"flags/flag.go:113","msg":"recognized and used environment variable","variable-name":"ETCD_INITIAL_ADVERTISE_PEER_URLS","variable-value":"https://156.238.230.124:2380"} May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":1747016150.9854348,"caller":"flags/flag.go:113","msg":"recognized and used environment variable","variable-name":"ETCD_INITIAL_CLUSTER","variable-value":"etcd1=https://38.12.6.92:2380,etcd2=https:/> May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":1747016150.9854562,"caller":"flags/flag.go:113","msg":"recognized and used environment variable","variable-name":"ETCD_INITIAL_CLUSTER_STATE","variable-value":"new"} May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":1747016150.9854805,"caller":"flags/flag.go:113","msg":"recognized and used environment variable","variable-name":"ETCD_INITIAL_CLUSTER_TOKEN","variable-value":"etcd-cluster"} May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":1747016150.9855373,"caller":"flags/flag.go:113","msg":"recognized and used environment variable","variable-name":"ETCD_LISTEN_CLIENT_URLS","variable-value":"https://156.238.230.124:2379,http://127.> May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":1747016150.9855742,"caller":"flags/flag.go:113","msg":"recognized and used environment variable","variable-name":"ETCD_LISTEN_PEER_URLS","variable-value":"https://156.238.230.124:2380"} May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":1747016150.9856148,"caller":"flags/flag.go:113","msg":"recognized and used environment variable","variable-name":"ETCD_NAME","variable-value":"etcd2"} May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":"2025-05-11T22:15:50.985-0400","caller":"etcdmain/etcd.go:72","msg":"Running: ","args":["/usr/local/bin/etcd","--cert-file=/etc/etcd/ssl/etcd.pem","--key-file=/etc/etcd/ssl/etcd-key.pem","--trusted> May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":"2025-05-11T22:15:50.986-0400","caller":"embed/etcd.go:131","msg":"configuring peer listeners","listen-peer-urls":["https://156.238.230.124:2380"]} May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":"2025-05-11T22:15:50.986-0400","caller":"embed/etcd.go:478","msg":"starting with peer TLS","tls-info":"cert = /etc/etcd/ssl/etcd.pem, key = /etc/etcd/ssl/etcd-key.pem, client-cert=, client-key=, tr> May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":"2025-05-11T22:15:50.986-0400","caller":"embed/etcd.go:367","msg":"closing etcd server","name":"etcd2","data-dir":"/var/lib/etcd/default.etcd","advertise-peer-urls":["https://156.238.230.124:2380"]> May 11 22:15:50 judong2 etcd[16670]: {"level":"info","ts":"2025-05-11T22:15:50.986-0400","caller":"embed/etcd.go:369","msg":"closed etcd server","name":"etcd2","data-dir":"/var/lib/etcd/default.etcd","advertise-peer-urls":["https://156.238.230.124:2380"],> May 11 22:15:50 judong2 etcd[16670]: {"level":"warn","ts":"2025-05-11T22:15:50.986-0400","caller":"etcdmain/etcd.go:145","msg":"failed to start etcd","error":"listen tcp 156.238.230.124:2380: bind: cannot assign requested address"} May 11 22:15:50 judong2 etcd[16670]: {"level":"fatal","ts":"2025-05-11T22:15:50.986-0400","caller":"etcdmain/etcd.go:203","msg":"discovery failed","error":"listen tcp 156.238.230.124:2380: bind: cannot assign requested address","stacktrace":"go.etcd.io/et> May 11 22:15:50 judong2 systemd[1]: etcd.service: Main process exited, code=exited, status=1/FAILURE

Scope: all 6 workspace projects Lockfile is up to date, resolution step is skipped Packages: +503 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++  WARN  GET https://registry.npmjs.org/@koa/router/-/router-12.0.0.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/http-errors/-/http-errors-2.0.0.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/depd/-/depd-2.0.0.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/inherits/-/inherits-2.0.4.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/setprototypeof/-/setprototypeof-1.2.0.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/statuses/-/statuses-2.0.1.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/toidentifier/-/toidentifier-1.0.1.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/koa-compose/-/koa-compose-4.1.0.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/methods/-/methods-1.1.2.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/path-to-regexp/-/path-to-regexp-6.2.1.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/form-data/-/form-data-4.0.0.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/asynckit/-/asynckit-0.4.0.tgz error (ERR_INVALID_THIS). Will retry in 10 seconds. 2 retries left.  WARN  GET https://registry.npmjs.org/combined-stream/-/combined-stream-1.0.8.tgz error (ERR_INVALID_THIS). Will

[Assets] [build-script][[Build.Script.Rollup]] Circular dependency: file:///D:/cocogame/BeaonGame/assets/TScript/messageManage/MessageType.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/useinfoManage/User_infoType.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/senceCenter/CenterDataManage.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/messageManage/MessageType.ts [warning][[Build.Script.Rollup]] Circular dependency: file:///D:/cocogame/BeaonGame/assets/TScript/useinfoManage/User_infoType.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/senceCenter/CenterDataManage.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/useinfoManage/User_infoType.ts [warning][[Build.Script.Rollup]] Circular dependency: file:///D:/cocogame/BeaonGame/assets/TScript/messageManage/MessageType.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/useinfoManage/User_infoType.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/senceCenter/CenterDataManage.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/senceCenter/BigWDataC.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/messageManage/MessageType.ts [Assets] [build-script][[Build.Script.Rollup]] Circular dependency: file:///D:/cocogame/BeaonGame/assets/TScript/messageManage/MessageType.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/useinfoManage/User_infoType.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/senceCenter/CenterDataManage.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/messageManage/MessageType.ts [warning][[Build.Script.Rollup]] Circular dependency: file:///D:/cocogame/BeaonGame/assets/TScript/useinfoManage/User_infoType.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/senceCenter/CenterDataManage.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/useinfoManage/User_infoType.ts [warning][[Build.Script.Rollup]] Circular dependency: file:///D:/cocogame/BeaonGame/assets/TScript/messageManage/MessageType.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/useinfoManage/User_infoType.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/senceCenter/CenterDataManage.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/senceCenter/BigWDataC.ts -> file:///D:/cocogame/BeaonGame/assets/TScript/messageManage/MessageType.ts at Logger._logHandler (C:\CocosCreator-v3.7.3\resources\app.asar\node_modules\@base\electron-worker\static\script.ccc:1:531) at Logger.record (C:\CocosCreator-v3.7.3\resources\app.asar\node_modules\@base\electron-logger\lib\renderer.ccc:1:458) at Object.warn (C:\CocosCreator-v3.7.3\resources\app.asar\node_modules\@base\electron-logger\lib\renderer.ccc:1:1260) at Object.warn (C:\CocosCreator-v3.7.3\resources\app.asar\builtin\asset-db\dist\worker\console.ccc:1:1412) at NewConsole.warn (C:\CocosCreator-v3.7.3\resources\app.asar\builtin\builder\dist\worker\console.ccc:1:1709) at Socket.<anonymous> (C:\CocosCreator-v3.7.3\resources\app.asar\builtin\builder\dist\worker\worker-pools\sub-process-manager.ccc:1:3499) at Socket.emit (events.js:315:20) at addChunk (internal/streams/readable.js:309:12) at readableAddChunk (internal/streams/readable.js:284:9)

[root@dljycs-rancher1 categraf-v0.4.3-linux-amd64]# ./categraf --test --inputs prometheus 2025/03/10 15:00:18 main.go:150: I! runner.binarydir: /data/categraf-v0.4.3-linux-amd64 2025/03/10 15:00:18 main.go:151: I! runner.hostname: dljycs-rancher1 2025/03/10 15:00:18 main.go:152: I! runner.fd_limits: (soft=65536, hard=65536) 2025/03/10 15:00:18 main.go:153: I! runner.vm_limits: (soft=unlimited, hard=unlimited) 2025/03/10 15:00:18 provider_manager.go:60: I! use input provider: [local] 2025/03/10 15:00:18 ibex_agent.go:19: I! ibex agent disabled! 2025/03/10 15:00:18 agent.go:38: I! agent starting 2025/03/10 15:00:18 agent.go:46: I! [*agent.MetricsAgent] started 2025/03/10 15:00:18 prometheus_agent.go:27: I! prometheus scraping started! 2025/03/10 15:00:18 agent.go:46: I! [*agent.PrometheusAgent] started 2025/03/10 15:00:18 agent.go:49: I! agent started ts=2025-03-10T07:00:18.831Z caller=web.go:559 level=info component=web msg="Start listening for connections" address=127.0.0.1:0 ts=2025-03-10T07:00:18.831Z caller=prometheus.go:843 level=info msg="Starting WAL storage ..." ts=2025-03-10T07:00:18.831Z caller=dir_locker.go:77 level=warn msg="A lockfile from a previous execution already existed. It was repla ced" file=/data/categraf-v0.4.3-linux-amd64/data-agent/lockts=2025-03-10T07:00:18.831Z caller=prometheus.go:726 level=info msg="Stopping scrape discovery manager..." ts=2025-03-10T07:00:18.831Z caller=prometheus.go:740 level=info msg="Stopping notify discovery manager..." ts=2025-03-10T07:00:18.831Z caller=prometheus.go:762 level=info msg="Stopping scrape manager..." ts=2025-03-10T07:00:18.831Z caller=prometheus.go:736 level=info msg="Notify discovery manager stopped" ts=2025-03-10T07:00:18.832Z caller=notifier.go:608 level=info component=notifier msg="Stopping notification manager..." ts=2025-03-10T07:00:18.832Z caller=prometheus.go:918 level=info msg="Notifier manager stopped" ts=2025-03-10T07:00:18.832Z caller=prometheus.go:722 level=info msg="Scrape discovery manager stopped" ts=2025-03-10T07:00:18.832Z caller=tls_config.go:313 level=info component=web msg="Listening on" address=127.0.0.1:35523 ts=2025-03-10T07:00:18.832Z caller=tls_config.go:316 level=info component=web msg="TLS is disabled." http2=false address=127.0.0.1:355 23ts=2025-03-10T07:00:18.832Z caller=prometheus.go:756 level=info msg="Scrape manager stopped" ts=2025-03-10T07:00:18.832Z caller=prometheus.go:928 level=error err="opening storage failed lock DB directory: resource temporarily u navailable"

[root@k8s-master ~]# sudo systemctl daemon-reload [root@k8s-master ~]# sudo systemctl start etcd Job for etcd.service failed because the control process exited with error code. See "systemctl status etcd.service" and "journalctl -xe" for details. [root@k8s-master ~]# journalctl -xe -u etcd 5月 26 15:24:04 k8s-master systemd[1]: etcd.service holdoff time over, scheduling restart. 5月 26 15:24:04 k8s-master systemd[1]: Stopped etcd. -- Subject: Unit etcd.service has finished shutting down -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has finished shutting down. 5月 26 15:24:04 k8s-master systemd[1]: Starting etcd... -- Subject: Unit etcd.service has begun start-up -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has begun starting up. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127562+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127885+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127915+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127936+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127954+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128017+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128033+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128097+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128118+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128132+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.12815+0800","caller":"flags/f 5月 26 15:24:04 k8s-master systemd[1]: etcd.service: main process exited, code=exited, status=1/FAILURE 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128167+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128188+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.1282+0800","caller":"flags/fl 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128214+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128234+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128249+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128261+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128273+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128339+0800","caller":"flags/ 5月 26 15:24:04 k8s-master systemd[1]: Failed to start etcd. -- Subject: Unit etcd.service has failed -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has failed. -- -- The result is failed. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"warn","ts":"2025-05-26T15:24:04.128452+0800","caller":"embed/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128517+0800","caller":"etcdma 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"warn","ts":"2025-05-26T15:24:04.128661+0800","caller":"embed/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128696+0800","caller":"embed/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128765+0800","caller":"embed/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"error","ts":"2025-05-26T15:24:04.129386+0800","caller":"embed 5月 26 15:24:04 k8s-master systemd[1]: Unit etcd.service entered failed state. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.129539+0800","caller":"embed/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.12956+0800","caller":"embed/e 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"warn","ts":"2025-05-26T15:24:04.129593+0800","caller":"etcdma 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"fatal","ts":"2025-05-26T15:24:04.12962+0800","caller":"etcdma 5月 26 15:24:04 k8s-master systemd[1]: etcd.service failed. lines 1611-1664/1664 (END) 5月 26 15:24:04 k8s-master systemd[1]: etcd.service holdoff time over, scheduling restart. 5月 26 15:24:04 k8s-master systemd[1]: Stopped etcd. -- Subject: Unit etcd.service has finished shutting down -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has finished shutting down. 5月 26 15:24:04 k8s-master systemd[1]: Starting etcd... -- Subject: Unit etcd.service has begun start-up -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has begun starting up. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127562+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127885+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127915+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127936+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127954+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128017+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128033+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128097+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128118+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128132+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.12815+0800","caller":"flags/fl 5月 26 15:24:04 k8s-master systemd[1]: etcd.service: main process exited, code=exited, status=1/FAILURE 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128167+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128188+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.1282+0800","caller":"flags/fla 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128214+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128234+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128249+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128261+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128273+0800","caller":"flags/f 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128339+0800","caller":"flags/f 5月 26 15:24:04 k8s-master systemd[1]: Failed to start etcd. -- Subject: Unit etcd.service has failed -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has failed. -- -- The result is failed. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"warn","ts":"2025-05-26T15:24:04.128452+0800","caller":"embed/c 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128517+0800","caller":"etcdmai 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"warn","ts":"2025-05-26T15:24:04.128661+0800","caller":"embed/c 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128696+0800","caller":"embed/e 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128765+0800","caller":"embed/e 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"error","ts":"2025-05-26T15:24:04.129386+0800","caller":"embed/ 5月 26 15:24:04 k8s-master systemd[1]: Unit etcd.service entered failed state. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.129539+0800","caller":"embed/e 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.12956+0800","caller":"embed/et 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"warn","ts":"2025-05-26T15:24:04.129593+0800","caller":"etcdmai 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"fatal","ts":"2025-05-26T15:24:04.12962+0800","caller":"etcdmai 5月 26 15:24:04 k8s-master systemd[1]: etcd.service failed. ~ lines 1611-1664/1664 (END) 5月 26 15:24:04 k8s-master systemd[1]: etcd.service holdoff time over, scheduling restart. 5月 26 15:24:04 k8s-master systemd[1]: Stopped etcd. -- Subject: Unit etcd.service has finished shutting down -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has finished shutting down. 5月 26 15:24:04 k8s-master systemd[1]: Starting etcd... -- Subject: Unit etcd.service has begun start-up -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has begun starting up. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127562+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127885+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127915+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127936+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127954+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128017+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128033+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128097+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128118+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128132+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.12815+0800","call lines 1611-1634/1664 98% 5月 26 15:24:04 k8s-master systemd[1]: etcd.service holdoff time over, scheduling restart. 5月 26 15:24:04 k8s-master systemd[1]: Stopped etcd. -- Subject: Unit etcd.service has finished shutting down -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has finished shutting down. 5月 26 15:24:04 k8s-master systemd[1]: Starting etcd... -- Subject: Unit etcd.service has begun start-up -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has begun starting up. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127562+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127885+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127915+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127936+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127954+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128017+0800","caller":"flags/ lines 1611-1629/1664 97% 5月 26 15:24:04 k8s-master systemd[1]: etcd.service holdoff time over, scheduling restart. 5月 26 15:24:04 k8s-master systemd[1]: Stopped etcd. -- Subject: Unit etcd.service has finished shutting down -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has finished shutting down. 5月 26 15:24:04 k8s-master systemd[1]: Starting etcd... -- Subject: Unit etcd.service has begun start-up -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has begun starting up. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127562+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127885+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127915+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127936+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127954+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128017+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128033+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128097+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128118+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128132+0800","cal 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.12815+0800","call lines 1611-1634/1664 98% 5月 26 15:24:04 k8s-master systemd[1]: etcd.service holdoff time over, scheduling restart. 5月 26 15:24:04 k8s-master systemd[1]: Stopped etcd. -- Subject: Unit etcd.service has finished shutting down -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has finished shutting down. 5月 26 15:24:04 k8s-master systemd[1]: Starting etcd... -- Subject: Unit etcd.service has begun start-up -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has begun starting up. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127562+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127885+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127915+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127936+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.127954+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128017+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128033+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128097+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128118+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128132+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.12815+0800","caller":"flags/f 5月 26 15:24:04 k8s-master systemd[1]: etcd.service: main process exited, code=exited, status=1/FAILURE 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128167+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128188+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.1282+0800","caller":"flags/fl 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128214+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128234+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128249+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128261+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128273+0800","caller":"flags/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128339+0800","caller":"flags/ 5月 26 15:24:04 k8s-master systemd[1]: Failed to start etcd. -- Subject: Unit etcd.service has failed -- Defined-By: systemd -- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel -- -- Unit etcd.service has failed. -- -- The result is failed. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"warn","ts":"2025-05-26T15:24:04.128452+0800","caller":"embed/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128517+0800","caller":"etcdma 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"warn","ts":"2025-05-26T15:24:04.128661+0800","caller":"embed/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128696+0800","caller":"embed/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.128765+0800","caller":"embed/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"error","ts":"2025-05-26T15:24:04.129386+0800","caller":"embed 5月 26 15:24:04 k8s-master systemd[1]: Unit etcd.service entered failed state. 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.129539+0800","caller":"embed/ 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"info","ts":"2025-05-26T15:24:04.12956+0800","caller":"embed/e 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"warn","ts":"2025-05-26T15:24:04.129593+0800","caller":"etcdma 5月 26 15:24:04 k8s-master etcd[21322]: {"level":"fatal","ts":"2025-05-26T15:24:04.12962+0800","caller":"etcdma 5月 26 15:24:04 k8s-master systemd[1]: etcd.service failed. lines 1611-1664/1664 (END) 如何解决?

wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_11.launch.py [INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-07-31-22-36-21-063785-wjs-desktop-3401 [INFO] [launch]: Default logging verbosity is set to INFO URDF路径: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/urdf/fishbot_base.urdf 配置文件目录: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config [INFO] [sllidar_node-1]: process started with pid [3402] [INFO] [ahrs_driver_node-2]: process started with pid [3404] [INFO] [robot_state_publisher-3]: process started with pid [3406] [INFO] [cartographer_node-4]: process started with pid [3408] [INFO] [cartographer_occupancy_grid_node-5]: process started with pid [3410] [INFO] [test01-6]: process started with pid [3414] [sllidar_node-1] [INFO] [1753972581.986391243] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0 [robot_state_publisher-3] [WARN] [1753972581.996475307] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [cartographer_node-4] [INFO] [1753972582.011709333] [cartographer logger]: I0731 22:36:21.000000 3408 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua' for 'test02.lua'. [cartographer_node-4] [INFO] [1753972582.013333071] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972582.013688304] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972582.014082280] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972582.014301028] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972582.015024162] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972582.015279911] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972582.015654423] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-4] [INFO] [1753972582.015846540] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-4] [INFO] [1753972582.034546103] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-4] [INFO] [1753972582.038440599] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [sllidar_node-1] [INFO] [1753972582.070328993] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571 [sllidar_node-1] [INFO] [1753972582.070517165] [sllidar_node]: Firmware Ver: 1.01 [sllidar_node-1] [INFO] [1753972582.070583316] [sllidar_node]: Hardware Rev: 18 [sllidar_node-1] [INFO] [1753972582.123145614] [sllidar_node]: SLLidar health status : 0 [sllidar_node-1] [INFO] [1753972582.123298397] [sllidar_node]: SLLidar health status : OK. [robot_state_publisher-3] [INFO] [1753972582.128163423] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1753972582.128332151] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1753972582.128406172] [robot_state_publisher]: got segment laser_link [ahrs_driver_node-2] [INFO] [1753972582.202092222] [ahrs_bringup]: Serial Port initialized [ahrs_driver_node-2] [INFO] [1753972582.203306613] [ahrs_bringup]: ahrsBringup::processLoop: start [cartographer_node-4] [INFO] [1753972582.244303392] [cartographer logger]: I0731 22:36:22.000000 3408 map_builder_bridge.cpp:136] Added trajectory with ID '0'. [sllidar_node-1] [INFO] [1753972582.352471345] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz, [test01-6] [INFO] [1753972583.505330257] [tf_subscriber]: 串口初始化成功: /dev/esp [cartographer_node-4] [INFO] [1753972584.271857380] [cartographer logger]: I0731 22:36:24.000000 3408 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638895693842687326'. [cartographer_node-4] [INFO] [1753972584.273126717] [cartographer logger]: I0731 22:36:24.000000 3408 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing. [cartographer_node-4] [INFO] [1753972584.375924905] [cartographer logger]: I0731 22:36:24.000000 3408 pose_graph_2d.cc:148] Inserted submap (0, 0). [cartographer_node-4] [WARN] [1753972584.473750823] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 209 earlier points. [cartographer_node-4] [WARN] [1753972584.480935739] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 1994 earlier points. [cartographer_node-4] [WARN] [1753972584.595685181] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 2392 earlier points. [cartographer_node-4] [WARN] [1753972584.722220687] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 2428 earlier points. [cartographer_node-4] [WARN] [1753972584.869288389] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 2631 earlier points. [cartographer_node-4] [WARN] [1753972585.062024964] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 2666 earlier points. [cartographer_node-4] [WARN] [1753972585.299729464] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 2647 earlier points. [cartographer_node-4] [WARN] [1753972585.621127465] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 2785 earlier points. [cartographer_node-4] [WARN] [1753972585.652920412] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 537 earlier points. [cartographer_node-4] [WARN] [1753972585.662334584] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 332 earlier points. [cartographer_node-4] [WARN] [1753972585.691437481] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 10 earlier points. [cartographer_node-4] [WARN] [1753972585.742905096] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 595 earlier points. [cartographer_node-4] [WARN] [1753972585.795619066] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 501 earlier points. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-3] [INFO] [1753972586.729521375] [rclcpp]: signal_handler(signum=2) [cartographer_occupancy_grid_node-5] [INFO] [1753972586.729486818] [rclcpp]: signal_handler(signum=2) [ahrs_driver_node-2] [INFO] [1753972586.730259954] [rclcpp]: signal_handler(signum=2) [cartographer_node-4] [INFO] [1753972586.731881654] [rclcpp]: signal_handler(signum=2) [cartographer_node-4] [INFO] [1753972586.762551805] [cartographer logger]: I0731 22:36:26.000000 3408 node.cpp:569] Shutdown the subscriber of [scan] [cartographer_node-4] [INFO] [1753972586.765307783] [cartographer logger]: I0731 22:36:26.000000 3408 node.cpp:569] Shutdown the subscriber of [imu] [cartographer_node-4] [INFO] [1753972586.765400804] [cartographer logger]: I0731 22:36:26.000000 3408 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'... [cartographer_node-4] [WARN] [1753972586.766412615] [cartographer logger]: W0731 22:36:26.000000 3408 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now. [cartographer_node-4] [INFO] [1753972586.766522507] [cartographer logger]: I0731 22:36:26.000000 3408 node.cpp:551] Trajectory 0 already pending to finish. [cartographer_node-4] [INFO] [1753972586.766569212] [cartographer logger]: I0731 22:36:26.000000 3408 map_builder_bridge.cpp:161] Running final trajectory optimization... [cartographer_node-4] [INFO] [1753972586.766686623] [cartographer logger]: I0731 22:36:26.000000 3461 pose_graph_2d.cc:538] Remaining work items in queue: 0 [cartographer_node-4] [INFO] [1753972586.766820776] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972586.766862277] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [test01-6] [INFO] [1753972586.769791297] [tf_subscriber]: 用户中断,退出节点 [test01-6] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 [cartographer_node-4] [WARN] [1753972586.792771590] [cartographer logger]: W0731 22:36:26.000000 3461 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972586.808681453] [cartographer logger]: I0731 22:36:26.000000 3461 pose_graph_2d.cc:538] Remaining work items in queue: 1 [cartographer_node-4] [INFO] [1753972586.808851254] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972586.808900163] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [cartographer_node-4] [WARN] [1753972586.836843523] [cartographer logger]: W0731 22:36:26.000000 3461 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972586.844830224] [cartographer logger]: I0731 22:36:26.000000 3460 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972586.844950321] [cartographer logger]: I0731 22:36:26.000000 3460 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [INFO] [ahrs_driver_node-2]: process has finished cleanly [pid 3404] [cartographer_node-4] [INFO] [1753972587.040705270] [cartographer logger]: I0731 22:36:27.000000 3462 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972587.040867757] [cartographer logger]: I0731 22:36:27.000000 3462 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 3406] [INFO] [cartographer_occupancy_grid_node-5]: process has finished cleanly [pid 3410] [INFO] [cartographer_node-4]: process has finished cleanly [pid 3408] [INFO] [test01-6]: process has finished cleanly [pid 3414] [sllidar_node-1] [INFO] [1753972587.955950183] [sllidar_node]: Stop motor [INFO] [sllidar_node-1]: process has finished cleanly [pid 3402] wjs@wjs-desktop:~/Drone_Slam$ ^C wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_11.launch.py [INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-07-31-22-42-04-880679-wjs-desktop-3490 [INFO] [launch]: Default logging verbosity is set to INFO URDF路径: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/urdf/fishbot_base.urdf 配置文件目录: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config [INFO] [sllidar_node-1]: process started with pid [3491] [INFO] [ahrs_driver_node-2]: process started with pid [3493] [INFO] [robot_state_publisher-3]: process started with pid [3495] [INFO] [cartographer_node-4]: process started with pid [3497] [INFO] [cartographer_occupancy_grid_node-5]: process started with pid [3500] [INFO] [test01-6]: process started with pid [3518] [sllidar_node-1] [INFO] [1753972925.292018354] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0 [sllidar_node-1] [INFO] [1753972925.341420338] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571 [sllidar_node-1] [INFO] [1753972925.341625562] [sllidar_node]: Firmware Ver: 1.01 [sllidar_node-1] [INFO] [1753972925.341712796] [sllidar_node]: Hardware Rev: 18 [sllidar_node-1] [INFO] [1753972925.394365205] [sllidar_node]: SLLidar health status : 0 [sllidar_node-1] [INFO] [1753972925.394585558] [sllidar_node]: SLLidar health status : OK. [robot_state_publisher-3] [WARN] [1753972925.439404039] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-3] [INFO] [1753972925.462492726] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1753972925.462650546] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1753972925.462684655] [robot_state_publisher]: got segment laser_link [sllidar_node-1] [INFO] [1753972926.001498187] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz, [cartographer_node-4] [INFO] [1753972926.381159918] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua' for 'test02.lua'. [cartographer_node-4] [INFO] [1753972926.387582813] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972926.387886344] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972926.401111512] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972926.404937484] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972926.406829278] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972926.407115588] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972926.407520389] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-4] [INFO] [1753972926.407731965] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ahrs_driver_node-2] [INFO] [1753972926.413443343] [ahrs_bringup]: Serial Port initialized [ahrs_driver_node-2] [INFO] [1753972926.413877419] [ahrs_bringup]: ahrsBringup::processLoop: start [cartographer_node-4] [INFO] [1753972926.413688027] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-4] [INFO] [1753972926.414655616] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-4] [INFO] [1753972926.539480363] [cartographer logger]: I0731 22:42:06.000000 3497 map_builder_bridge.cpp:136] Added trajectory with ID '0'. [test01-6] [INFO] [1753972927.276279155] [tf_subscriber]: 串口初始化成功: /dev/esp [cartographer_node-4] [INFO] [1753972927.937685537] [cartographer logger]: I0731 22:42:07.000000 3497 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638895697279334551'. [cartographer_node-4] [INFO] [1753972927.938687865] [cartographer logger]: I0731 22:42:07.000000 3497 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing. [cartographer_node-4] [INFO] [1753972928.041921183] [cartographer logger]: I0731 22:42:08.000000 3497 pose_graph_2d.cc:148] Inserted submap (0, 0). [cartographer_node-4] [WARN] [1753972928.155580796] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2204 earlier points. [cartographer_node-4] [WARN] [1753972928.266892465] [cartographer logger]: W0731 22:42:08.000000 3497 sensor_bridge.cpp:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 638895697282633349 is not before current subdivision time 638895697282613324 [cartographer_node-4] [WARN] [1753972928.267554931] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 15 earlier points. [cartographer_node-4] [WARN] [1753972928.411221081] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2181 earlier points. [cartographer_node-4] [WARN] [1753972928.567551008] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 20 earlier points. [cartographer_node-4] [WARN] [1753972928.574751828] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2260 earlier points. [cartographer_node-4] [WARN] [1753972928.772710132] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2491 earlier points. [cartographer_node-4] [WARN] [1753972929.055279642] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 2639 earlier points. [cartographer_node-4] [WARN] [1753972929.308514082] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 915 earlier points. [cartographer_node-4] [WARN] [1753972929.357095244] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 365 earlier points. [cartographer_node-4] [WARN] [1753972929.410270693] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 757 earlier points. [cartographer_node-4] [WARN] [1753972929.468742243] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 532 earlier points. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-3] [INFO] [1753972931.302743250] [rclcpp]: signal_handler(signum=2) [cartographer_node-4] [INFO] [1753972931.303041208] [rclcpp]: signal_handler(signum=2) [cartographer_occupancy_grid_node-5] [INFO] [1753972931.303140164] [rclcpp]: signal_handler(signum=2) [ahrs_driver_node-2] [INFO] [1753972931.306472015] [rclcpp]: signal_handler(signum=2) [test01-6] [INFO] [1753972931.317018916] [tf_subscriber]: 用户中断,退出节点 [test01-6] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 [cartographer_node-4] [INFO] [1753972931.381496061] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:569] Shutdown the subscriber of [scan] [cartographer_node-4] [INFO] [1753972931.398093009] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:569] Shutdown the subscriber of [imu] [cartographer_node-4] [INFO] [1753972931.398192483] [cartographer logger]: I0731 22:42:11.000000 3497 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'... [cartographer_node-4] [WARN] [1753972931.399485994] [cartographer logger]: W0731 22:42:11.000000 3497 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now. [cartographer_node-4] [INFO] [1753972931.399604003] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:551] Trajectory 0 already pending to finish. [cartographer_node-4] [INFO] [1753972931.399660276] [cartographer logger]: I0731 22:42:11.000000 3497 map_builder_bridge.cpp:161] Running final trajectory optimization... [cartographer_node-4] [INFO] [1753972931.399828559] [cartographer logger]: I0731 22:42:11.000000 3553 pose_graph_2d.cc:538] Remaining work items in queue: 0 [cartographer_node-4] [INFO] [1753972931.399970030] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.400510321] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [cartographer_node-4] [WARN] [1753972931.402947335] [cartographer logger]: W0731 22:42:11.000000 3553 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972931.443748639] [cartographer logger]: I0731 22:42:11.000000 3553 pose_graph_2d.cc:538] Remaining work items in queue: 1 [cartographer_node-4] [INFO] [1753972931.444092112] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.446113307] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [cartographer_node-4] [WARN] [1753972931.448578615] [cartographer logger]: W0731 22:42:11.000000 3553 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972931.451659875] [cartographer logger]: I0731 22:42:11.000000 3550 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.451766940] [cartographer logger]: I0731 22:42:11.000000 3550 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [cartographer_node-4] [INFO] [1753972931.562351736] [cartographer logger]: I0731 22:42:11.000000 3552 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.562474041] [cartographer logger]: I0731 22:42:11.000000 3552 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 3495] [INFO] [cartographer_occupancy_grid_node-5]: process has finished cleanly [pid 3500] [sllidar_node-1] [INFO] [1753972931.631353251] [sllidar_node]: Stop motor [INFO] [ahrs_driver_node-2]: process has finished cleanly [pid 3493] [INFO] [cartographer_node-4]: process has finished cleanly [pid 3497] [INFO] [sllidar_node-1]: process has finished cleanly [pid 3491] [INFO] [test01-6]: process has finished cleanly [pid 3518] wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_11.launch.py

version: '3.7' services: server1: image: base-server container_name: server1 command: ["sh", "-c", "/scripts/start_services.sh"] environment: - VT_HOSTNAME=server1 - VT_TOPOLOGY=etcd:http://server1:2379 ports: - "15000:15000" - "15306:3306" networks: vitess-network: ipv4_address: 172.16.0.101 volumes: - ./scripts:/scripts - etcd-data:/var/lib/etcd # 修改挂载路径 server2: image: mysql-server container_name: server2 command: ["sh", "-c", "while ! nc -z server1 2379; do sleep 1; done; /scripts/init_master.sh"] environment: - VT_HOSTNAME=server2 - VT_TOPOLOGY=etcd:http://server1:2379 - VTDATAROOT=/vt/vtdataroot # 显式指定数据目录 networks: vitess-network: ipv4_address: 172.16.0.102 volumes: - ./scripts:/scripts - mysql-master:/vt/vtdataroot depends_on: - server1 server3: image: mysql-server container_name: server3 command: ["sh", "-c", "while ! nc -z server1 2379; do sleep 1; done; /scripts/init_replica.sh"] environment: - VT_HOSTNAME=server3 - VT_TOPOLOGY=etcd:http://server1:2379 - VTDATAROOT=/vt/vtdataroot networks: vitess-network: ipv4_address: 172.16.0.103 volumes: - ./scripts:/scripts - mysql-replica:/vt/vtdataroot depends_on: - server1 volumes: etcd-data: mysql-master: mysql-replica: networks: vitess-network: driver: bridge ipam: config: - subnet: 172.16.0.0/24 Dockerfile.base: FROM vitess/base USER root RUN chmod 777 /var/lib/etcd USER vitess Dockerfile.server: FROM vitess/base USER root RUN apt-get update && apt-get install -y netcat || yum install -y nc || apk add --no-cache gnu-netcat # 安装 etcdctl 和网络检测工具 RUN apt-get update && \ apt-get install -y curl && \ rm -rf /var/lib/apt/lists/* USER vitess start_services.sh: #!/bin/bash RUN apt-get update && apt-get install -y netcat || yum install -y nc || apk add --no-cache gnu-netcat # 启动 etcd、vtctld、vtgate etcd --data-dir /etcd & sleep 5 vtctld --topo_implementation etcd2 --topo_global_server_address http://localhost:2379 & vtgate --topo_implementation etcd2 --topo_global_server_address http://localhost:2379 --mysql_server_port 3306 & init_master.sh 和 init_replica.sh : #!/bin/bash # 启动 MySQL 从实例和 vttablet vttablet \ --topo_implementation etcd2 \ --topo_global_server_address server1:2379 \ --tablet-path "zone1-101" \ --init_keyspace "test_keyspace" \ --init_shard "0" \ --init_tablet_type "replica" \ --port 15002 \ --grpc_port 16002 \ --db_port 3306 2025-05-21 15:41:10.240 | /scripts/start_services.sh: line 3: RUN: command not found 2025-05-21 15:41:10.244 | /scripts/start_services.sh: line 3: yum: command not found 2025-05-21 15:41:10.248 | /scripts/start_services.sh: line 3: apk: command not found 2025-05-21 15:41:11.117 | {"level":"info","ts":"2025-05-21T07:41:11.109Z","caller":"etcdmain/etcd.go:73","msg":"Running: ","args":["etcd","--data-dir","/etcd"]} 2025-05-21 15:41:11.119 | {"level":"info","ts":"2025-05-21T07:41:11.117Z","caller":"embed/etcd.go:124","msg":"configuring peer listeners","listen-peer-urls":["http://localhost:2380"]} 2025-05-21 15:41:11.124 | {"level":"info","ts":"2025-05-21T07:41:11.124Z","caller":"embed/etcd.go:132","msg":"configuring client listeners","listen-client-urls":["http://localhost:2379"]} 2025-05-21 15:41:11.125 | {"level":"info","ts":"2025-05-21T07:41:11.125Z","caller":"embed/etcd.go:306","msg":"starting an etcd server","etcd-version":"3.5.6","git-sha":"cecbe35ce","go-version":"go1.16.15","go-os":"linux","go-arch":"amd64","max-cpu-set":12,"max-cpu-available":12,"member-initialized":false,"name":"default","data-dir":"/etcd","wal-dir":"","wal-dir-dedicated":"","member-dir":"/etcd/member","force-new-cluster":false,"heartbeat-interval":"100ms","election-timeout":"1s","initial-election-tick-advance":true,"snapshot-count":100000,"max-wals":5,"max-snapshots":5,"snapshot-catchup-entries":5000,"initial-advertise-peer-urls":["http://localhost:2380"],"listen-peer-urls":["http://localhost:2380"],"advertise-client-urls":["http://localhost:2379"],"listen-client-urls":["http://localhost:2379"],"listen-metrics-urls":[],"cors":["*"],"host-whitelist":["*"],"initial-cluster":"default=http://localhost:2380","initial-cluster-state":"new","initial-cluster-token":"etcd-cluster","quota-backend-bytes":2147483648,"max-request-bytes":1572864,"max-concurrent-streams":4294967295,"pre-vote":true,"initial-corrupt-check":false,"corrupt-check-time-interval":"0s","compact-check-time-enabled":false,"compact-check-time-interval":"1m0s","auto-compaction-mode":"periodic","auto-compaction-retention":"0s","auto-compaction-interval":"0s","discovery-url":"","discovery-proxy":"","downgrade-check-interval":"5s"} 2025-05-21 15:41:11.125 | {"level":"info","ts":"2025-05-21T07:41:11.125Z","caller":"embed/etcd.go:373","msg":"closing etcd server","name":"default","data-dir":"/etcd","advertise-peer-urls":["http://localhost:2380"],"advertise-client-urls":["http://localhost:2379"]} 2025-05-21 15:41:11.125 | {"level":"info","ts":"2025-05-21T07:41:11.125Z","caller":"embed/etcd.go:375","msg":"closed etcd server","name":"default","data-dir":"/etcd","advertise-peer-urls":["http://localhost:2380"],"advertise-client-urls":["http://localhost:2379"]} 2025-05-21 15:41:11.125 | {"level":"warn","ts":"2025-05-21T07:41:11.125Z","caller":"etcdmain/etcd.go:146","msg":"failed to start etcd","error":"cannot access data directory: mkdir /etcd: permission denied"} 2025-05-21 15:41:11.126 | {"level":"fatal","ts":"2025-05-21T07:41:11.125Z","caller":"etcdmain/etcd.go:204","msg":"discovery failed","error":"cannot access data directory: mkdir /etcd: permission denied","stacktrace":"go.etcd.io/etcd/server/v3/etcdmain.startEtcdOrProxyV2\n\tgo.etcd.io/etcd/server/v3/etcdmain/etcd.go:204\ngo.etcd.io/etcd/server/v3/etcdmain.Main\n\tgo.etcd.io/etcd/server/v3/etcdmain/main.go:40\nmain.main\n\tgo.etcd.io/etcd/server/v3/main.go:32\nruntime.main\n\truntime/proc.go:225"} nc: getaddrinfo for host "server1" port 2379: No address associated with hostname nc: getaddrinfo for host "server1" port 2379: No address associated with hostname nc: getaddrinfo for host "server1" port 2379: No address associated with hostname nc: getaddrinfo for host "server1" port 2379: No address associated with hostname nc: getaddrinfo for host "server1" port 2379: No address associated with hostname 启动失败

最新推荐

recommend-type

基于Go封装的openblas.zip

基于Go封装的openblas.zip
recommend-type

11款开源中文分词引擎性能对比分析

在当今信息时代,中文分词作为自然语言处理中的一个基础且关键环节,对于中文信息检索、机器翻译、语音识别等领域的应用至关重要。分词准确度直接影响了后续的语言分析与理解。由于中文不同于英文等西方语言,中文书写是以连续的字符序列来表达,不存在明显的单词间分隔符,如空格。因此,在处理中文文本之前,必须先进行分词处理,即确定字符串中的词边界。 开放中文分词引擎是指那些提供免费使用的中文文本分词服务的软件。在开放源代码或提供分词API的分词系统上,开发者和研究者可以测试和评估它们在不同场景和数据集上的性能,以便选择最适合特定需求的分词引擎。 本文件标题为“11款开放中文分词引擎测试数据”,意味着内容涉及11个不同的中文分词引擎。这些引擎可能覆盖了从传统基于规则的方法到现代基于机器学习和深度学习的方法,也可能包括了针对特定领域(如医疗、法律等)优化的分词引擎。以下将对这些分词引擎的重要知识点进行详细阐述。 1. 基于规则的分词引擎:这类引擎依据汉语语法规则和词典进行分词。词典会包含大量的词汇、成语、习惯用语等,而规则会涉及汉语构词方式、歧义消解等。优点在于分词速度快,对常见文本的处理效果好;缺点是规则和词典需要不断更新,对新词和专业术语的支持不足。 2. 基于统计的分词引擎:通过大规模的语料库进行训练,统计各个词语的出现概率,从而实现分词。这种方法能够自动学习和适应新词和新用法,但需要的计算资源较大。 3. 基于深度学习的分词引擎:利用深度神经网络模型,如循环神经网络(RNN)和卷积神经网络(CNN),来识别和分词。近年来,基于Transformer架构的预训练模型,如BERT和GPT,也开始被应用到中文分词任务中,具有更好的语境理解和处理能力。 4. 评估指标:通常使用准确率(precision)、召回率(recall)和F1分数作为分词效果的评价指标。准确率是指分词结果中正确词占所有识别词的比例,召回率是指分词结果中正确词占实际正确词的比例,F1分数是准确率和召回率的调和平均。 5. 测试数据集:测试数据集通常由不同类型的文本组成,如新闻、科技文献、社交媒体文本等,用于评估分词引擎在不同场景下的性能。测试数据集的多样性和丰富度是影响分词引擎性能评估的关键。 6. 性能对比:通过对比各款分词引擎在相同测试数据集上的表现,可以分析出哪些分词引擎在准确率、速度、资源消耗等方面表现更优,哪些更适合处理特定类型的文本。 7. 应用场景:分词引擎的选择也依赖于其应用场景。例如,搜索引擎可能更重视速度和准确率,而语音识别则可能更注重实时性和对口语的适应性。 8. 开源分词引擎:一些开源分词引擎如HanLP、结巴分词(Jieba)等,提供了丰富的功能和社区支持,同时便于开发者根据特定需求进行定制和优化。 通过上述内容,我们可以看到中文分词引擎的重要性和测试数据的作用。开发者和研究人员可以根据测试结果,选择适合自己应用需求的分词工具,并且对分词引擎的性能进行优化,进一步提高中文信息处理的质量和效率。
recommend-type

【大规模EEG数据处理技巧】:EEGbdfreader性能优化秘籍

# 摘要 本文综合探讨了大规模EEG数据处理的关键理论和技术实践,重点介绍了一个名为EEGbdfreader的工具及其在数据处理中的应用。文中首先概述了大规模EEG数据处理的挑战,随后深入介绍了EEGbdfreader工具的安装、配置、基本操作和高级功能,包括
recommend-type

安卓studio多行注释快捷键

<think>好的,我现在需要帮助用户查找Android Studio中多行注释的快捷键。首先,我得回想一下自己之前对Android Studio的了解。通常,不同的IDE有不同的注释快捷键,比如Eclipse中使用Ctrl + /,而IntelliJ IDEA系列(包括Android Studio)可能使用类似的快捷方式。不过用户提到的问题可能涉及到特定情况下的快捷键冲突,比如引用[2]中提到的Kotlin方法注释快捷键的问题,这说明用户可能遇到了快捷键不生效的情况,需要检查是否有冲突。 接下来,我应该确认标准的Android Studio多行注释快捷键是什么。根据常规知识,Windows
recommend-type

JavaFX自学资料整理合集

JavaFX是一个由Oracle公司开发的用于构建富客户端应用程序的软件平台。它是Java SE的一个部分,能够帮助开发者创建图形用户界面(GUI)应用程序,这类应用程序具备现代桌面应用的特性,例如多媒体、图形和动画。JavaFX是Java的一个补充,它利用了Java的强大功能,同时提供了更加丰富的组件库和更加灵活的用户界面布局功能。 在自学整理JavaFX的过程中,以下是一些重要的知识点和概念: 1. JavaFX的架构和组件 JavaFX拥有一个模块化的架构,它由多个组件构成,包括JavaFX Scene Builder、JavaFX运行时、JavaFX SDK、NetBeans IDE插件等。JavaFX Scene Builder是一个可视化工具,用于设计UI布局。JavaFX SDK提供了JavaFX库和工具,而NetBeans IDE插件则为NetBeans用户提供了一体化的JavaFX开发环境。 2. JavaFX中的场景图(Scene Graph) 场景图是JavaFX中用于定义和管理用户界面元素的核心概念。它由节点(Nodes)组成,每个节点代表了界面中的一个元素,如形状、文本、图像、按钮等。节点之间可以存在父子关系,形成层次结构,通过这种方式可以组织复杂的用户界面。 3. FXML FXML是一种XML语言,它允许开发者以声明的方式描述用户界面。使用FXML,开发者可以将界面布局从代码中分离出来,使界面设计可以由设计师独立于程序逻辑进行处理。FXML与JavaFX Scene Builder结合使用可以提高开发效率。 4. JavaFX中的事件处理 JavaFX提供了强大的事件处理模型,使得响应用户交互变得简单。事件处理涉及事件监听器的注册、事件触发以及事件传递机制。JavaFX中的事件可以是键盘事件、鼠标事件、焦点事件等。 5. JavaFX的动画与媒体API JavaFX支持创建平滑的动画效果,并且能够处理视频和音频媒体。动画可以通过时间线(Timeline)和关键帧(KeyFrame)来实现。JavaFX媒体API提供了丰富的类和接口,用于控制音视频的播放、暂停、停止、调整音量等。 6. CSS与JavaFX CSS样式表可以用于美化JavaFX应用程序界面,提供与Web开发中相似的样式设置能力。JavaFX应用了大部分CSS 3标准,允许开发者使用CSS来控制节点的样式,比如颜色、字体、边框等。 7. JavaFX的过渡效果和效果库 JavaFX拥有内置的过渡效果库,可以为节点提供多种动画效果,如移动、旋转、缩放和淡入淡出等。除此之外,JavaFX还提供了一系列的效果,如阴影效果、反射效果、模糊效果等,可以应用于节点以增强视觉表现。 8. JavaFX的数据绑定 数据绑定是JavaFX中非常重要的一个特性,它允许开发者将用户界面元素与后端数据源连接起来。数据绑定可以简化代码的编写,减少手动同步数据的需要。 9. JavaFX的模块化 JavaFX的模块化特性使其可以轻松集成到Java应用中,并且可以独立于Java核心库进行下载和更新,这样有利于JavaFX的快速迭代和减少应用体积。 10. JavaFX的多种输入设备支持 JavaFX支持多种输入设备,包括鼠标、键盘、触摸板等。它提供了一套完整的API来处理各种输入设备的事件,使得创建交互式的用户体验成为可能。 了解这些知识点之后,JavaFX的自学和资料整理工作会更加有条理和系统。由于这些内容较为广泛,因此在实际学习过程中,重点应该是逐一深入理解每一个概念,并尝试在实践项目中应用这些知识点。通过编写小程序和应用来实际感受JavaFX的开发流程和操作细节,最终达到熟练掌握的目的。
recommend-type

【MATLAB编程优化术】:针对EEGbdfreader的代码调优策略

# 摘要 EEGbdfreader作为一款处理脑电图(EEG)数据的软件工具,在临床和研究领域有着广泛应用。本文首先介绍了EEGbdfreader的基本功能和面临的性能挑战,随后回顾了MATLAB编程的基础知识,为深入理解软件内部机制和后续优化工作奠定了基础。第三章重点探讨了EEGbdfreader的代码优化策略,包括代码重构、内存管理、数据缓存以及并行计算与多线程的应用,旨在提升程序性能和效率。第四章则深入讲解
recommend-type

数仓信贷反欺诈模型开发(分层)流程

<think>好的,我现在需要回答用户关于数仓信贷反欺诈模型开发分层流程的问题。首先,我得回忆一下数据仓库和反欺诈模型的基本概念,确保自己理解正确。数据仓库通常分为不同的层次,比如ODS、DWD、DWS等,而反欺诈模型开发可能涉及数据处理、特征工程、模型训练等步骤。我需要将这些结合起来,形成一个分层的流程说明。 用户提到的是分层流程,所以我应该按照数据仓库的不同层次来分步骤解释。首先,可能需要从数据采集开始,也就是ODS层,这里存储原始数据。然后数据清洗和预处理,进入DWD层。接下来是DWS层,可能涉及特征工程,构建宽表或者汇总数据。之后是ADS层,用于具体的模型开发和应用。 不过,我需要
recommend-type

Git项目托管教程:Eclipse与命令行操作指南

### 知识点:使用Eclipse将项目托管到GitHub #### 前言 将项目托管到GitHub是现代软件开发中常用的一种版本控制和代码共享方法。GitHub利用Git进行版本控制,Git是一个开源的分布式版本控制系统,可以有效、高速地处理从很小到非常大的项目版本管理。Eclipse是一个流行的集成开发环境,它提供Git插件,使得开发者可以通过Eclipse的图形界面管理Git仓库。 #### Git插件安装与配置 在Eclipse中使用Git,首先需要安装EGit插件,这是Eclipse官方提供的Git集成插件。安装方法通常是通过Eclipse的“Help” -> “Eclipse Marketplace...”搜索EGit并安装。安装后需要进行基本的Git配置,包括设置用户名和邮箱,这一步骤是通过“Window” -> “Preferences” -> “Team” -> “Git” -> “Configuration”来完成的。 #### 创建本地仓库 将项目托管到GitHub之前,需要在本地创建Git仓库。在Eclipse中,可以通过右键点击项目选择“Team” -> “Initialize Git Repository”来初始化Git仓库。 #### 添加远程仓库 初始化本地仓库后,下一步是在GitHub上创建对应的远程仓库。登录GitHub账户,点击“New repository”按钮,填写仓库名称、描述等信息后创建。然后在Eclipse中,通过右键点击项目选择“Team” -> “Remote” -> “Add...”,在弹出的对话框中输入远程仓库的URL来添加远程仓库。 #### 上传项目到GitHub 添加远程仓库后,可以将本地项目上传到GitHub。通过右键点击项目选择“Team” -> “Push...”,然后在出现的对话框中点击“Finish”,即可将本地的更改推送(push)到GitHub的远程仓库中。 #### 知识点:使用Git命令行将项目托管到GitHub #### 前言 虽然Eclipse提供了图形界面的方式来操作Git仓库,但Git命令行提供了更加强大和灵活的控制能力。掌握Git命令行是每个软件开发者的必备技能之一。 #### 安装Git 使用Git命令行前,需要在本地计算机上安装Git软件。安装方法取决于操作系统,通常在官网下载对应版本安装包进行安装。安装完成后,需要通过命令行设置用户名和邮箱,分别使用命令`git config --global user.name "Your Name"`和`git config --global user.email [email protected]`。 #### 创建本地仓库 使用Git命令行创建本地仓库,首先需要通过命令行进入到项目文件夹中。执行命令`git init`初始化一个新的Git仓库。 #### 本地仓库的基本操作 在本地仓库中,常见的操作包括添加文件到暂存区、提交更改和查看状态等。使用`git add .`将项目中的所有更改添加到暂存区,使用`git commit -m "commit message"`将暂存区的更改提交到本地仓库,使用`git status`查看当前仓库的状态。 #### 添加远程仓库 创建本地仓库并提交了一些更改后,需要将这个仓库关联到GitHub上的远程仓库。首先在GitHub上创建新的仓库,然后使用命令`git remote add origin [仓库的URL]`将本地仓库与远程仓库关联起来。 #### 上传项目到GitHub 关联好远程仓库后,使用命令`git push -u origin master`将本地分支的更改推送到远程仓库的master分支。如果远程仓库是空的,这个命令会把所有本地分支和提交上传到GitHub。如果之前已经推送过,那么使用`git push`命令即可。 #### 小结 无论是通过Eclipse的图形界面还是Git命令行,将项目托管到GitHub的过程都涉及到了初始化本地仓库、添加远程仓库以及推送更改到远程仓库这三个主要步骤。两者各有优劣,Eclipse提供了图形化的便捷操作,而Git命令行则提供了更灵活的操作空间。掌握这些知识有助于更好地进行代码版本控制和共享。
recommend-type

【EEGbdfreader进阶开发】:构建自定义函数与类实战指南

# 摘要 EEGbdfreader是一款用于处理特定数据格式的应用程序,本文旨在深入探讨其核心功能及实战应用技巧。通过详细剖析EEGbdfreader的基本数据结构,本文展示了数据存取操作方法,并介绍了自定义函数的设计原则与高级用法。文章进一步阐述了类的定义、实例化及继承多态性,强调了错误处理与异常管理的重要性。在实战应用技巧章节中,本文讨论了数据处理、文件操作的实用技术,并提
recommend-type

C盘垃圾难以清理时是否能够通过重置C盘进行

<think>首先,用户的问题是:“我想清理C盘垃圾并解决难以清理的问题 请问C盘垃圾文件清理困难时如何通过重置或优化系统解决”。这涉及到清理C盘垃圾文件时遇到的困难,以及如何通过系统重置或优化来解决。 我需要参考提供的引用内容来辅助回答: - 引用[1]:提到提升系统性能的方法,包括更新操作系统和应用程序、清理系统垃圾文件(临时文件、缓存文件、无用注册表项)来释放磁盘空间和减少负载。 - 引用[2]:描述了一个工具(如CCleaner或类似软件)如何帮助清理C盘垃圾文件,包括回收站清理、压缩和移动程序功能。 - 引用[3]:关于垃圾回收的设置,但这是在Java上下文中的,可能不直接适用于W