@小鱼 小鱼,网络要怎么设置啊?不清楚这一块内容
win11家庭版
humble
问题:
按照https://fishros.com/d2lros2/#/humble/chapt3/get_started/7.ROS2%E6%8E%A5%E5%8F%A3%E4%BB%8B%E7%BB%8D?id=_33-%e5%88%9b%e5%bb%ba%e6%8e%a5%e5%8f%a3%e5%8a%9f%e8%83%bd%e5%8c%85%e7%bc%96%e6%8e%a5%e5%8f%a3的教程建立自定义接口,包名叫demo_interfaces,接口名同小鱼,但是在编译失败,提示信息如下:
Starting >>> demo_interfaces
--- stderr: demo_interfaces
CMake Warning (dev) at D:/ROS2/ros2-windows/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:20 (find_package):
Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
are removed. Run "cmake --help-policy CMP0148" for policy details. Use
the cmake_policy command to set the policy and suppress this warning.
Call Stack (most recent call first):
D:/ROS2/ros2-windows/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
D:/ROS2/ros2-windows/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
CMakeLists.txt:25 (rosidl_generate_interfaces)
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Warning (dev) at D:/ROS2/ros2-windows/share/python_cmake_module/cmake/Modules/FindPythonExtra.cmake:52 (find_package):
Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
are removed. Run "cmake --help-policy CMP0148" for policy details. Use
the cmake_policy command to set the policy and suppress this warning.
Call Stack (most recent call first):
D:/ROS2/ros2-windows/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:23 (find_package)
D:/ROS2/ros2-windows/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
D:/ROS2/ros2-windows/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
CMakeLists.txt:25 (rosidl_generate_interfaces)
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Warning (dev) at D:/ROS2/ros2-windows/share/python_cmake_module/cmake/Modules/FindPythonExtra.cmake:140 (find_package):
Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
are removed. Run "cmake --help-policy CMP0148" for policy details. Use
the cmake_policy command to set the policy and suppress this warning.
Call Stack (most recent call first):
D:/ROS2/ros2-windows/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:23 (find_package)
D:/ROS2/ros2-windows/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
D:/ROS2/ros2-windows/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
CMakeLists.txt:25 (rosidl_generate_interfaces)
This warning is for project developers. Use -Wno-dev to suppress it.
===========
关键点来了:
我把cmakelist中“find_package(rosidl_default_generators REQUIRED)”这一行注释掉以后就可以编译过了,但是查看pkg list是可以找到这个包的呀,所以,问题出现在哪里???
昇腾Atlas 200I DK A2 开发套件(ARM架构芯片);
通过SD卡烧录的昇腾官方提供的Ubuntu 22.04 系统;
系统登录后默认的HwHiAiUser用户通过ssh登录root操作已经开放了sudo权限;
用鱼总的一键安装ROS安装了 ROS2 humble;
之前尝试的时候也安装了miniconda3。
使用常规安装指令无法成功安装gazebo
具体细节和上下文: 1.终端输入指令以及输出:sudo apt-get install gazebo
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Package gazebo is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source
E: Package 'gazebo' has no installation candidate
2.终端输入指令以及输出:sudo apt install -y gazebo11
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package gazebo11
ros2 pkg install gazebo_ros_pkgs
Traceback (most recent call last):
File "/opt/ros/humble/bin/ros2", line 33, in <module>
sys.exit(load_entry_point('ros2cli==0.18.11', 'console_scripts', 'ros2')())
File "/opt/ros/humble/bin/ros2", line 25, in importlib_load_entry_point
return next(matches).load()
File "/usr/lib/python3.10/importlib/metadata/init.py", line 171, in load
module = import_module(match.group('module'))
File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 883, in exec_module
File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 22, in <module>
from rclpy.executors import ExternalShutdownException
File "/home/HwHiAiUser/rclpy_workspace/install/rclpy/lib/python3.9/site-packages/rclpy/init.py", line 49, in <module>
from rclpy.signals import install_signal_handlers
File "/home/HwHiAiUser/rclpy_workspace/install/rclpy/lib/python3.9/site-packages/rclpy/signals.py", line 15, in <module>
from rclpy.exceptions import InvalidHandle
File "/home/HwHiAiUser/rclpy_workspace/install/rclpy/lib/python3.9/site-packages/rclpy/exceptions.py", line 15, in <module>
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
File "/home/HwHiAiUser/rclpy_workspace/install/rclpy/lib/python3.9/site-packages/rclpy/impl/implementation_singleton.py", line 32, in <module>
rclpy_implementation = import_c_library('._rclpy_pybind11', package)
File "/opt/ros/humble/lib/python3.10/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
return importlib.import_module(name, package=package)
File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
The C extension '/opt/ros/humble/lib/python3.10/site-packages/_rclpy_pybind11.cpython-310-aarch64-linux-gnu.so' isn't present on the system. Please refer to 'https://docs.ros.org/en/humble/Guides/Installation-Troubleshooting.html#import-failing-without-library-present-on-the-system' for possible solutions
bba3cd3b-f703-4d70-b4a1-f4355ae80954-屏幕截图 2024-10-22 162904.png
[ INFO] [1729585372.154100344]: Physics dynamic reconfigure ready.
[INFO] [1729585372.174581, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1729585372.619181, 72.752000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name cc
[ERROR] [1729585372.620888, 72.752000]: Spawn service failed. Exiting.
[spawn_model-5] process has died [pid 20517, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model cc -param robot_description __name:=spawn_model __log:=/home/ros/.ros/log/d286cd40-904e-11ef-b6fe-dd7667b791a3/spawn_model-5.log].
log file: /home/ros/.ros/log/d286cd40-904e-11ef-b6fe-dd7667b791a3/spawn_model-5*.log
[ WARN] [1729585374.350471889, 72.752000000]: GazeboRosSkidSteerDrive Plugin (ns = //) missing <wheelSeparation>, defaults to value from robot_description: 0.400000
[ WARN] [1729585374.350715411, 72.752000000]: GazeboRosSkidSteerDrive Plugin (ns = //) missing <commandTopic>, defaults to "cmd_vel"
[ WARN] [1729585374.350994417, 72.752000000]: GazeboRosSkidSteerDrive Plugin (ns = //) missing <covariance_x>, defaults to 0.000100
[ WARN] [1729585374.351200327, 72.752000000]: GazeboRosSkidSteerDrive Plugin (ns = //) missing <covariance_y>, defaults to 0.000100
[ WARN] [1729585374.351398085, 72.752000000]: GazeboRosSkidSteerDrive Plugin (ns = //) missing <covariance_yaw>, defaults to 0.010000
[ INFO] [1729585374.351697821, 72.752000000]: Starting GazeboRosSkidSteerDrive Plugin (ns = //)
context mismatch in svga_surface_destroy
context mismatch in svga_surface_destroy
Ros2 Humble 在qt使用rviz_common实现简单的rviz来显示机械臂模型,但找不到rviz2的资料,只有rviz1的,api调用总是报错。请问有什么资料参考吗?或者有大佬做过相关的工作吗
昇腾Atlas 200I DK A2 开发套件,通过SD卡烧录的昇腾官方提供的Ubuntu 22.04 系统,系统登录后默认的HwHiAiUser用户已经开放了sudo权限,用鱼总的一键安装ROS安装了 ROS2 humble
问题描述:按照网帖(忘记哪个链接了)pip3安装的rospy,用的指令是:
sudo pip3 install rospy==1.15.11 --extra-index-url https://rospypi.github.io/simple/
但是import显示没有rospy这个包。
(base) HwHiAiUser@davinci-mini:~$ python3 -c "import rospy"
Traceback (most recent call last):
File "<string>", line 1, in <module>
ModuleNotFoundError: No module named 'rospy'
pip3安装rospy终端输出:
HwHiAiUser@davinci-mini:~$ sudo pip3 install rospy --extra-index-url https://rospypi.github.io/simple/Looking in indexes: https://pypi.doubanio.com/simple, https://rospypi.github.io/simple/
Collecting rospy
WARNING: Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='raw.githubusercontent.com', port=443): Read timed out. (read timeout=15)")': /rospypi/simple/any/rospy/rospy-1.15.11-py2.py3-none-any.whl
Using cached https://github.com/rospypi/simple/raw/any/rospy/rospy-1.15.11-py2.py3-none-any.whl (116 kB)
Requirement already satisfied: rospkg in /usr/local/lib/python3.10/dist-packages (from rospy) (1.5.1)
Requirement already satisfied: rosgraph-msgs in /usr/local/lib/python3.10/dist-packages (from rospy) (1.11.3.post2)
Requirement already satisfied: std-msgs in /usr/local/lib/python3.10/dist-packages (from rospy) (0.5.13.post0)
Requirement already satisfied: genpy<2000 in /usr/local/lib/python3.10/dist-packages (from rospy) (0.6.14)
Requirement already satisfied: numpy in /usr/lib/python3/dist-packages (from rospy) (1.21.5)
Requirement already satisfied: roslib in /usr/lib/python3/dist-packages (from rospy) (1.15.8)
Requirement already satisfied: roscpp in /usr/local/lib/python3.10/dist-packages (from rospy) (1.15.11)
Requirement already satisfied: rosgraph in /usr/local/lib/python3.10/dist-packages (from rospy) (1.15.11)
Requirement already satisfied: genmsg in /usr/local/lib/python3.10/dist-packages (from genpy<2000->rospy) (0.5.12)
Requirement already satisfied: PyYAML in /usr/lib/python3/dist-packages (from rospkg->rospy) (5.4.1)
Requirement already satisfied: catkin-pkg in /usr/local/lib/python3.10/dist-packages (from rospkg->rospy) (1.0.0)
Requirement already satisfied: distro>=1.4.0 in /usr/lib/python3/dist-packages (from rospkg->rospy) (1.7.0)
Requirement already satisfied: docutils in /usr/lib/python3/dist-packages (from catkin-pkg->rospkg->rospy) (0.17.1)
Requirement already satisfied: pyparsing in /usr/lib/python3/dist-packages (from catkin-pkg->rospkg->rospy) (2.4.7)
Requirement already satisfied: setuptools in /usr/local/lib/python3.10/dist-packages (from catkin-pkg->rospkg->rospy) (70.0.0)
Requirement already satisfied: python-dateutil in /usr/lib/python3/dist-packages (from catkin-pkg->rospkg->rospy) (2.8.1)
Installing collected packages: rospy
Successfully installed rospy-1.15.11
sudo pip3 uninstall rospy之后,再次用上面指令安装,import的时候依旧显示没有rospy。
在实际调车的过程中,发现使用amcl进行定位的时候效果超级差,所以想采用雷达进行定位。
问题描述: cartographer的配置文件和launch文件应该怎么编写? 如何移除掉navigation2中的amcl? 具体细节和上下文: 我采用了CSDN中一些方法进行修改配置文件和launch文件,在终端也显示了 /tracked_pose, 但是数据并不能成功打印,我怀疑是配置文件编写存在问题。 同样在模型运动的过程中,终端能打印出和amcl相关的话题,但是我已经对nav2的配置文件中将amcl那块参数都进行删除。 尝试过的解决方法:目前阅读过几个CSDN上介绍的方法,但是关于nav2这一块比较少。因此问题没能解决。
在github上找了一个项目,想复现一下,报了如下错误,不知道该如何解决:
[laserMapping-2] process has died [pid 23129, exit code -6, cmd /home/liuqh/work/faster-livo_ws/devel/lib/faster_lio/run_mapping_online __name:=laserMapping __log:=/home/liuqh/.ros/log/96cbe10e-8eec-11ef-ada2-7c70db8859af/laserMapping-2.log]. log file: /home/liuqh/.ros/log/96cbe10e-8eec-11ef-ada2-7c70db8859af/laserMapping-2*.log想请教一下,有没有遇到类似情况的同学,该如何解决?
小鱼老师好,这个小节代码我反复检查没有问题,运行后总是报错map找不到,麻烦帮忙查看下,非常感谢。
我自己摸索的很久,通过百度和AI都没有能解决。
源码如下:
报错如下:
[component_container_isolated-1] [INFO] [1729425072.452304242] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not existrviz2显示如下:
1729431110577.jpg
内部文件出了问题显示无法找到launch!
ros2 launch learning_tf2_py turtle_tf2_demo.launch.py
Failed to load entry point 'launch': No module named 'launch.launch_description_sources'
Traceback (most recent call last):
File "/opt/ros/humble/bin/ros2", line 33, in <module>
sys.exit(load_entry_point('ros2cli==0.18.11', 'console_scripts', 'ros2')())
File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 52, in main
add_subparsers_on_demand(
File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/command/init.py", line 237, in add_subparsers_on_demand
extension = command_extensions[name]
KeyError: 'launch'
激光雷达目前能扫描的点的数量为380个, 这个点对于较细较远的反光柱无法识别到, 而且它的反射强度也不正确, 太小了, 反光柱的强度数值至少是周边环境的2倍以上。 不知道是什么原因, 是雷达本身的问题吗?
套餐1包含Vscode及其容器插件,开始安装。。
欢迎使用一键安装Vscode,本工具由作者小鱼提供
开始根据系统架构,为你下载对应版本的vscode~
Run CMD Task:[sudo wget https://vscode.download.prss.microsoft.com/dbazure/download/stable/903b1e9d8990623e3d7da1df3d33db3e42d80eda/code_1.86.2-1707854558_amd64.deb -O /tmp/vscode.deb]
--2024-10-19 15:55:00-- https://vscode.download.prss.microsoft.com/dbazure/download/stable/903b1e9d8990623e3d7da1df3d33db3e42d80eda/code_1.86.2-1707854558_amd64.deb
正在解析主机 vscode.download.prss.microsoft.com (vscode.download.prss.microsoft.com)... 119.0.92.108, 119.0.92.68
正在连接 vscode.download.prss.microsoft.com (vscode.download.prss.microsoft.com)|119.0.92.108|:443... 已连接。
已发出 HTTP 请求,正在等待回应... 200 OK
长度: 99776494 (95M) [application/octet-stream]
正在保存至: ‘/tmp/vscode.deb’
/tmp/vscode.deb 100%[=====================================================================================>] 95.15M 8.80MB/s 用时 12s
2024-10-19 15:55:13 (7.94 MB/s) - 已保存 ‘/tmp/vscode.deb’ [99776494/99776494])
下载完成,接下来为你安装Vscode~
Run CMD Task:[sudo dpkg -i /tmp/vscode.deb]
[-][8.32s] CMD Result:success
Run CMD Task:[rm -rf /tmp/vscode.deb]
[-][0.00s] CMD Result:success
安装完成~
Run CMD Task:[code --install-extension ms-vscode-remote.remote-containers --user-data-dir]
Option 'user-data-dir' requires a non empty value. Ignoring the option.
Installing extensions...
Extension 'ms-vscode-remote.remote-containers' v0.388.0 is already installed. Use '--force' option to update to latest version or provide '@<version>' to install a specific version, for example: 'ms-vscode-remote.remote-containers@1.2.3'.
===========================后续使用指令=================================
后续可在任意终端输入melodic1来启动/停止/测试/删除容器
==============================文件存储位置===============================
你的主目录已经和容器的对应目录做了映射
==============================问题反馈&&更新讨论=============================
请访问社区的一键安装版块:https://fishros.org.cn/forum/topic/112
欢迎加入机器人学习交流QQ群:438144612(入群口令:一键安装)
鱼香小铺正式开业,最低499可入手一台能建图会导航的移动机器人,淘宝搜店:鱼香ROS 或打开链接查看:https://item.taobao.com/item.htm?id=696573635888
如在使用过程中遇到问题,请打开:https://fishros.org.cn/forum 进行反馈
检测到本次运行出现失败命令,直接退出按Ctrl+C,按任意键上传日志并退出
列表mzc0064@ubuntu:~$ roscore
... logging to /home/mzc0064/.ros/log/b1b74fea-8dce-11ef-b452-e76f203cfdf0/roslaunch-ubuntu-22226.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:37227/
ros_comm version 1.16.0
PARAMETERS
/rosdistro: noetic /rosversion: 1.16.0NODES
auto-starting new master
process[master]: started with pid [22234]
ROS_MASTER_URI=http://ubuntu:11311/
setting /run_id to b1b74fea-8dce-11ef-b452-e76f203cfdf0
process[rosout-1]: started with pid [22244]
started core service [/rosout]
请输入[]内的数字以选择:2
你选择了noetic(ROS1),该版本目前状态:长期支持
================================2.安装Docker======================================
Run CMD Task:[docker version]
[-][0.03s] CMD Result:success
=================3.下载镜像(该步骤因网络原因会慢一些,若失败请重试)==================
Run CMD Task:[sudo docker pull fishros2/ros:noetic-desktop-full ]
Error response from daemon: Get "https://registry-1.docker.io/v2/": net/http: request canceled while waiting for connection (Client.Timeout exceeded while awaiting headers)
Run CMD Task:[sudo docker pull fishros2/ros:noetic-desktop-full ]
Error response from daemon: Get "https://registry-1.docker.io/v2/": dial tcp 108.160.166.9:443: i/o timeout
Run CMD Task:[sudo docker pull fishros2/ros:noetic-desktop-full ]
Error response from daemon: Get "https://registry-1.docker.io/v2/": net/http: request canceled while waiting for connection (Client.Timeout exceeded while awaiting headers)
================================4.生成容器======================================
自定义的数组类型话题接口,在ROS2节点间测试中正常,但是当micro-ros作为订阅节点 就无法进入回调函数中。66a8ea4c-5e40-4eee-b0b7-ff4603b86215-图片.png
9b775eea-b69c-442d-a25f-39bc9bed273c-图片.png
27c628e1-94e8-4fa1-a3ad-6598b59ce2b5-图片.png
CMakeLists.txt 文件如下
cmake_minimum_required(VERSION 3.8)
project(status_interfaces)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces (${PROJECT_NAME}
"msg/SystemStatus.msg"
DEPENDENCIES builtin_interfaces
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()
package.xml文件如下
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>status_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="lsy@todo.todo">lsy</maintainer>
<license>Apache-2.0</license>
<member_of_group>rosidl_interface_packages </member_of_group>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>builtin_interfaces</depend>
<depend>rosidl_default_generators</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
报错信息如下
CMake Error at /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:240 (list):
list index: 1 out of range (-1, 0)
Call Stack (most recent call first):
CMakeLists.txt:14 (rosidl_generate_interfaces)
CMake Error at /opt/ros/humble/share/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake:69 (message):
Target dependency
'/chapt3/topic_practice_ws/build/status_interfaces/rosidl_adapter/status_interfaces/msg/SystemStatus.idl'
does not exist
Call Stack (most recent call first):
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
CMakeLists.txt:14 (rosidl_generate_interfaces)
标题:rqt_graph中没有/cmd_vel节点,gazebo中小车模型不动
问题描述:rviz中的小车模型可以动,但是gazebo中的模型还是没反应,运行rqt_graph发现没有/cmd_vel节点,而且gazebo节点和静态坐标节点全是独立的,图片如下:
具体细节和上下文:
node only:
da070f57-5ec8-44eb-ba1b-a98766e7dc00-testd47f3285-a255-4d70-9ee6-483353bbdaf5.jpg
node all:
c19310e7-9225-433b-acd9-7b53f9504d56-node all.jpg
node active:
89662182-ce27-4055-907d-186241971918-node active.jpg
尝试过的解决方法:
添加过gazebo to cmd_vel的python文件和节点,但是还是不行
我在Ubuntu 20.04的noetic ros1,Gazebo 11.14上运行Gazebo Turtlebot3的仿真,但是机器人的角速度经常发生跳变。
比如用下面这段代码:
用默认的waffle_pi进行测试,得到的图像是这样,这是因为摩擦力太小了:
8606a0b9-b905-4b65-aac3-68e1e3d9caf5-{31E206AE-4C76-4A21-9FFB-561FF0B2C6EF}.png
于是我修改了机器人的URDF文件:
此时图像为:
e14b42ff-0e07-4a28-825e-9822e1f8404d-{1AA9C12E-4555-4BD5-B756-39466DACD39E}.png
似乎好了不少,但是在图像开始区域出现了大的跳变。我以为是角速度和角加速度太大了,因此平滑一下(此处不是上面代码执行的,而是另一个MPC程序):
c23aca60-fc09-49fc-99a8-a1d0e02d4b6d-{6DD45853-3F72-46F5-8F07-AADF30E727DF}.png
我的控制输入似乎足够平滑了,但机器人能会出现非常离谱的跳变。后面我进一步减少角速度控制的角加速度,但让然会有非常大的跳变出现,我想知道这是为什么呢?
如果这是模型问题,那我该怎么调整参数?如果是控制问题,是发生在哪里?
最后,如果是Turtlebot3这个模型不支持这么大的角加速度(即便我已经调的很小了,0.5m/s^2),那我应该自己写一个吗,还是在找一个开源的模型。
运行小鱼修改的支持ROS2 Humble的LeGO-LOAM和自己的雷达数据包(话题:/velodyne_points,frame_id:velodyne),rviz2里面没有地图显示c9259f7f-9c51-4f67-a1b2-e4bd1f04e374-be75ff7bf0415484af2c04769e77cf9b.png
但选上raw velodyne,会出现[rviz2-5] [INFO] [1729237243.945957136] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1728890797.085 for reason 'discarding message because the queue is full'5265f2f7-140d-4508-9935-9ce386e0db16-141ab90cb108587f34916e9e141df9ea.png
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