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    惯性导航自主移动测试相关问题

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    • 氵叶雨
      氵叶雨 @weijiz last edited by

      @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

      xiaoqiang 1 Reply Last reply Reply Quote 0
      • xiaoqiang
        xiaoqiang @氵叶雨 last edited by

        @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

        氵叶雨 1 Reply Last reply Reply Quote 0
        • 氵叶雨
          氵叶雨 @xiaoqiang last edited by

          @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]

          1 Reply Last reply Reply Quote 0
          • 木易木公木木
            木易木公木木 last edited by

            这两者有何区别?

            weijiz 1 Reply Last reply Reply Quote 0
            • weijiz
              weijiz @木易木公木木 last edited by

              @木易木公木木 哪两个的区别?

              木易木公木木 1 Reply Last reply Reply Quote 0
              • 木易木公木木
                木易木公木木 @weijiz last edited by

                @weijiz ADDWAPlannerROS DWAPlannerROS

                weijiz 1 Reply Last reply Reply Quote 0
                • weijiz
                  weijiz @木易木公木木 last edited by

                  @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

                  木易木公木木 2 Replies Last reply Reply Quote 0
                  • 木易木公木木
                    木易木公木木 @weijiz last edited by

                    @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

                    weijiz 1 Reply Last reply Reply Quote 0
                    • 木易木公木木
                      木易木公木木 @weijiz last edited by

                      @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

                      1 Reply Last reply Reply Quote 0
                      • weijiz
                        weijiz @木易木公木木 last edited by

                        @木易木公木木 这个问题很大。不同算法都不一样

                        1 Reply Last reply Reply Quote 0
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