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惯性导航自主移动测试相关问题
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@weijiz ROS_MASTER_URI=http://xiaoqiang-desktop:11311
WARNING: Package name “ORB_SLAM2” does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name “NLlinepatrol_planner” does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[map_server-1]: started with pid [6561]
process[move_base-2]: started with pid [6562]
process[odom_map_broadcaster-3]: started with pid [6563]
[ INFO] [1626249538.382856208]: Loading from pre-hydro parameter style
[ INFO] [1626249538.400550817]: Using plugin “static_layer”
[ INFO] [1626249538.407213801]: Requesting the map…
[ INFO] [1626249538.611207295]: Resizing costmap to 600 X 600 at 0.100000 m/pix
[ INFO] [1626249538.710645272]: Received a 600 X 600 map at 0.100000 m/pix
[ INFO] [1626249538.721307676]: Using plugin “obstacle_layer”
[ INFO] [1626249538.723543475]: Subscribed to Topics:
[ INFO] [1626249538.733786746]: Using plugin “inflation_layer”
[ INFO] [1626249538.784556791]: Loading from pre-hydro parameter style
[ INFO] [1626249538.799147147]: Using plugin “static_layer”
[ INFO] [1626249538.803967894]: Requesting the map…
[ INFO] [1626249538.806943812]: Resizing costmap to 600 X 600 at 0.100000 m/pix
[ INFO] [1626249538.906791259]: Received a 600 X 600 map at 0.100000 m/pix
[ INFO] [1626249538.917929670]: Using plugin “obstacle_layer”
[ INFO] [1626249538.920708665]: Subscribed to Topics:
[ INFO] [1626249538.932643967]: Using plugin “inflation_layer”
[ INFO] [1626249538.974077585]: ODOM SET1![ INFO] [1626249538.974130146]: Created local_planner addwa_local_planner/ADDWAPlannerROS
[ INFO] [1626249539.507760788]: Sim period is set to 0.07
[ INFO] [1626249539.977843573]: Recovery behavior will clear layer obstacles
[ INFO] [1626249539.979909037]: Recovery behavior will clear layer obstacles
[ INFO] [1626249540.025718359]: odom received! 0.000000,0.000000 -
@氵叶雨 执行rosrun nav_test square.py的窗口输出内容也贴一下图片，上图move_base已经正常启动了
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@xiaoqiang rosrun nav_test square.py
[INFO] [1626661718.488650]: Waiting for move_base action server…
[INFO] [1626661718.601555]: Connected to move base server
[INFO] [1626661718.602378]: Starting navigation test
[INFO] [1626661730.565145]: Goal succeeded!
[INFO] [1626661739.993120]: Goal succeeded!
[INFO] [1626661750.838423]: Goal succeeded!
[INFO] [1626661758.358539]: Goal succeeded!
[INFO] [1626661758.359807]: Stopping the robot…
[ERROR] [1626661758.506487]: Received comm state PREEMPTING when in simple state DONE with SimpleActionClient in NS /move_base
可以走了，但是走的歪七扭八的，还有个error[链接文本] -
这两者有何区别？
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@木易木公木木 哪两个的区别？
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@weijiz ADDWAPlannerROS DWAPlannerROS
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@木易木公木木 DWA是ROS标准算法 ADDWA是我们在DWA基础上修改的，主要用来巡线的
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@weijiz 请问如何加载自己构建的地图，并且调整小车与地图的位置
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@weijiz 在 惯性导航自主移动测试相关问题 中说：
@木易木公木木 DWA是ROS标准算法 ADDWA是我们在DWA基础上修改的，主要用来巡线的
哦怪不得两者的launch 相似度高看的有点迷糊
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@木易木公木木 这个问题很大。不同算法都不一样
