蓝鲸ROS机器人论坛

氵叶雨

@氵叶雨 QQ图片20220521165240.png 使用rviz打开/ros/src/nav_test/config/nav.rviz图像没有四个方块和方向箭头

氵叶雨

@氵叶雨

氵叶雨

@氵叶雨且伽利略软件矫正陀螺仪失败

氵叶雨

可以成功跑完正方形，但是一旦成功到达原点后就会报错

氵叶雨

@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]

氵叶雨

@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

@weijiz SUMMARY

PARAMETERS

/move_base/ADDWAPlannerROS/PathChange: True
/move_base/ADDWAPlannerROS/PathChangeLazy: True
/move_base/ADDWAPlannerROS/R: [1.0, 0.0, 0.0, 0…
/move_base/ADDWAPlannerROS/R_laserscan: [-1.0, 0.0, 0.0, …
/move_base/ADDWAPlannerROS/T: [-0.1, 0.0, 0.0]
/move_base/ADDWAPlannerROS/T_laserscan: [-0.3, 0.0]
/move_base/ADDWAPlannerROS/acc_lim_th: 8
/move_base/ADDWAPlannerROS/acc_lim_x: 1.5
/move_base/ADDWAPlannerROS/acc_lim_y: 0
/move_base/ADDWAPlannerROS/add_value: 20
/move_base/ADDWAPlannerROS/backtime: 2.5
/move_base/ADDWAPlannerROS/bar_distance_min: 0.5
/move_base/ADDWAPlannerROS/clear_angle12: 0.6
/move_base/ADDWAPlannerROS/clear_angle1: -0.6
/move_base/ADDWAPlannerROS/clear_range: 2.0
/move_base/ADDWAPlannerROS/clear_value: 5
/move_base/ADDWAPlannerROS/decay_value: 0
/move_base/ADDWAPlannerROS/distance_scale: 3.2
/move_base/ADDWAPlannerROS/forward_dist: 0.15
/move_base/ADDWAPlannerROS/forward_max_dist: 1.4
/move_base/ADDWAPlannerROS/forward_point_distance: 0.325
/move_base/ADDWAPlannerROS/forward_width: 0.45
/move_base/ADDWAPlannerROS/front_distance_bias: 10.0
/move_base/ADDWAPlannerROS/goal_distance_bias: 10.0
/move_base/ADDWAPlannerROS/half_length: 100
/move_base/ADDWAPlannerROS/k2: 0.4
/move_base/ADDWAPlannerROS/kd: 0.2
/move_base/ADDWAPlannerROS/ki: 0.5
/move_base/ADDWAPlannerROS/kp: 0.8
/move_base/ADDWAPlannerROS/latch_xy_goal_tolerance: True
/move_base/ADDWAPlannerROS/left_side_weight: 0.1
/move_base/ADDWAPlannerROS/linear_v: 0.5
/move_base/ADDWAPlannerROS/look_ahead_dist: 0.4
/move_base/ADDWAPlannerROS/max_rot_vel: 0.5
/move_base/ADDWAPlannerROS/max_scaling_factor: 0.2
/move_base/ADDWAPlannerROS/max_trans_vel: 0.5
/move_base/ADDWAPlannerROS/max_vel_x: 0.5
/move_base/ADDWAPlannerROS/max_vel_y: 0
/move_base/ADDWAPlannerROS/min_rot_vel: -0.5
/move_base/ADDWAPlannerROS/min_trans_vel: 0.0
/move_base/ADDWAPlannerROS/min_vel_x: 0.0
/move_base/ADDWAPlannerROS/min_vel_y: 0
/move_base/ADDWAPlannerROS/occdist_scale: 0.01
/move_base/ADDWAPlannerROS/oscillation_reset_dist: 0.15
/move_base/ADDWAPlannerROS/path_costheta: -0.5
/move_base/ADDWAPlannerROS/path_distance_bias: 0.4
/move_base/ADDWAPlannerROS/plan_width: 0.4
/move_base/ADDWAPlannerROS/prune_plan: True
/move_base/ADDWAPlannerROS/pub_localgrid: True
/move_base/ADDWAPlannerROS/resolution: 0.05
/move_base/ADDWAPlannerROS/rot_width: 0.6
/move_base/ADDWAPlannerROS/scaling_speed: 0.25
/move_base/ADDWAPlannerROS/scan_type: 0
/move_base/ADDWAPlannerROS/sim_granularity: 0.05
/move_base/ADDWAPlannerROS/sim_time: 2.0
/move_base/ADDWAPlannerROS/stop_time_buffer: 0.2
/move_base/ADDWAPlannerROS/theta_max: 1.2
/move_base/ADDWAPlannerROS/using_kinect: True
/move_base/ADDWAPlannerROS/using_laserscan: True
/move_base/ADDWAPlannerROS/vtheta_samples: 20
/move_base/ADDWAPlannerROS/vx_samples: 20
/move_base/ADDWAPlannerROS/vy_samples: 1
/move_base/ADDWAPlannerROS/xy_goal_tolerance: 0.1
/move_base/ADDWAPlannerROS/yaw_goal_tolerance: 0.1
/move_base/base_global_planner: navfn/NavfnROS
/move_base/base_local_planner: addwa_local_plann…
/move_base/clearing_rotation_allowed: False
/move_base/controller_frequency: 15.0
/move_base/global_costmap/global_frame: /map
/move_base/global_costmap/inflation_radius: 0.55
/move_base/global_costmap/map_type: costmap
/move_base/global_costmap/max_obstacle_height: 0.6
/move_base/global_costmap/min_obstacle_height: 0.0
/move_base/global_costmap/obstacle_range: 2.5
/move_base/global_costmap/publish_frequency: 1.0
/move_base/global_costmap/raytrace_range: 3.0
/move_base/global_costmap/resolution: 0.1
/move_base/global_costmap/robot_base_frame: /base_footprint
/move_base/global_costmap/robot_radius: 0.15
/move_base/global_costmap/rolling_window: False
/move_base/global_costmap/static_map: True
/move_base/global_costmap/transform_tolerance: 1.0
/move_base/global_costmap/update_frequency: 5.0
/move_base/latch_xy_goal_tolerance: True
/move_base/local_costmap/global_frame: /map
/move_base/local_costmap/height: 5.0
/move_base/local_costmap/inflation_radius: 0.55
/move_base/local_costmap/map_type: costmap
/move_base/local_costmap/max_obstacle_height: 0.6
/move_base/local_costmap/min_obstacle_height: 0.0
/move_base/local_costmap/obstacle_range: 2.5
/move_base/local_costmap/publish_frequency: 1.0
/move_base/local_costmap/raytrace_range: 3.0
/move_base/local_costmap/resolution: 0.1
/move_base/local_costmap/robot_base_frame: /base_footprint
/move_base/local_costmap/robot_radius: 0.15
/move_base/local_costmap/rolling_window: False
/move_base/local_costmap/static_map: True
/move_base/local_costmap/transform_tolerance: 1.0
/move_base/local_costmap/update_frequency: 1.0
/move_base/local_costmap/width: 5.0
/move_base/recovery_behavior_enabled: False
/rosdistro: kinetic
/rosversion: 1.12.17

NODES
/
map_server (map_server/map_server)
move_base (move_base/move_base)
odom_map_broadcaster (tf/static_transform_publisher)

氵叶雨

@weijiz 是执行roslaunch nav_test fake_move_base_blank_map.launch的相关信息吗

氵叶雨

@weijiz 在执行bwupdate xq4的时候出现以下问题怎么解决
Installing python dependencies of xiaoqiang_tts
/home/xiaoqiang/Documents/ros/src/xiaoqiang_tts/venv/bin/pip /home/xiaoqiang/Documents/ros/src/xiaoqiang_tts/requirements.txt
CMake Error at xiaoqiang_tts/CMakeLists.txt:31 (message):
Install python dependencies failed

– Configuring incomplete, errors occurred!
See also “/home/xiaoqiang/Documents/ros/build/CMakeFiles/CMakeOutput.log”.
See also “/home/xiaoqiang/Documents/ros/build/CMakeFiles/CMakeError.log”.
Invoking “cmake” failed
编译失败，请检查后重新编译

氵叶雨

@氵叶雨

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@weijiz SUMMARY

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