鱼香ROS社区
    • 版块
    • 最新
    • 未解决
    • 已解决
    • 群组
    • 注册
    • 登录
    紧急通知：禁止一切关于政治&VPN翻墙等话题，发现相关帖子会立马删除封号
     提问前必看的发帖注意事项： 社区问答规则(小鱼个人)更新 | 高质量帖子发布指南

    navi导航停车抱死

    已定时 已固定 已锁定 已移动
    FishBot二驱机器人
    fishibot navigation2
    2
    8
    832
    正在加载更多帖子
    • 从旧到新
    • 从新到旧
    • 最多赞同
    回复
    • 在新帖中回复
    登录后回复
    此主题已被删除。只有拥有主题管理权限的用户可以查看。
    • 24964802332
      TAP-APIA
      最后由 编辑

      走一厘米不到就停了 然后就一直是蜂鸣声

      24964802332 1 条回复 最后回复 回复 引用 0
      • 24964802332
        TAP-APIA @2496480233
        最后由 编辑

        @2496480233
        起先在安装依赖

        git clone https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1
cd fishbot
rosdep install --from-paths src --ignore-src -y  -r # 安装依赖

        执行这步时出现错误

        ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
fishbot_description: Cannot locate rosdep definition for [ament_python]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

        然后在 colcon build报错

        Starting >>> fishbot_bringup
Starting >>> fishbot_cartographer
Finished <<< fishbot_cartographer [0.12s]                             
Starting >>> fishbot_description
Finished <<< fishbot_bringup [0.31s]                                  
Starting >>> fishbot_interfaces
--- stderr: fishbot_interfaces                                    
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:29 (rosidl_generate_interfaces)


CMake Error at /opt/ros/humble/share/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake:69 (message):
  Target dependency
  '/fishbot/build/fishbot_interfaces/rosidl_adapter/fishbot_interfaces/srv/FishBotConfig.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:29 (rosidl_generate_interfaces)


---
Failed   <<< fishbot_interfaces [0.30s, exited with code 1]
Aborted  <<< fishbot_description [0.63s]                     

Summary: 2 packages finished [0.89s]
  1 package failed: fishbot_interfaces
  1 package aborted: fishbot_description
  2 packages had stderr output: fishbot_description fishbot_interfaces
  1 package not processed

        后续在src文件夹中加入了https://github.com/ament/ament_lint中的文件 虽然colcon buitld仍然报错 但是没有影响后续运行
        之后在执行下列指令后

        source install/setup.bash
ros2 launch fishbot_navigation2 navigation2.launch.py

        标记起点和终点的数据后 小车向左转动5°左右停车 然后有蜂鸣声 执行三次向左转动5°后彻底停车 左下方navigation 2 插件显示状态为aborted 终端info输出为 goal failed

        ubuntu 22.04
        humble

        1 条回复 最后回复 回复 引用 0
        • 24964802332
          TAP-APIA
          最后由 编辑

          navi2 截图
          6c270f44-08df-4e47-b2be-73a6c5125f2f-image.png

          [rviz2-2] Start navigation
[rviz2-2] [INFO] [1684640655.389216028] [rviz2]: NavigateToPose will be called using the BT Navigator's default behavior tree.
[component_container_isolated-1] [INFO] [1684640655.391752848] [bt_navigator]: Begin navigating from current location to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640655.393030124] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640655.393238111] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640655.393580970] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640655.413169215] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[rviz2-2] [INFO] [1684640655.502392748] [rviz2]: Message Filter dropping message: frame 'odom' at time 1684640646.329 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1684640656.028722875] [rviz2]: Message Filter dropping message: frame 'odom' at time 1684640646.942 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1684640656.034835386] [rviz2]: Message Filter dropping message: frame 'odom' at time 1684640647.024 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1684640656.278022603] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1684640647.276 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1684640656.402100352] [rviz2]: Message Filter dropping message: frame 'odom' at time 1684640647.328 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1684640656.409390242] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640656.409423315] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640656.409431755] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640656.422599214] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1684640656.423534058] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[rviz2-2] [INFO] [1684640656.527217694] [rviz2]: Message Filter dropping message: frame 'odom' at time 1684640647.458 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1684640656.528284948] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1684640647.401 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1684640656.528709832] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1684640647.526 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1684640656.651990013] [rviz2]: Message Filter dropping message: frame 'odom' at time 1684640647.635 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1684640656.653736851] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1684640647.651 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1684640656.777409653] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1684640647.776 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1684640657.027232558] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1684640647.901 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1684640657.027753967] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1684640648.026 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1684640657.401699353] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640657.401763568] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640657.401772909] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640657.412444882] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-1] [WARN] [1684640658.409614719] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640658.409684623] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640658.409696544] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640658.431874735] [behavior_server]: Running spin
[component_container_isolated-1] [INFO] [1684640658.431968061] [behavior_server]: Turning 1.57 for spin behavior.
[component_container_isolated-1] [WARN] [1684640658.532312442] [behavior_server]: Collision Ahead - Exiting Spin
[component_container_isolated-1] [WARN] [1684640658.532346604] [behavior_server]: spin failed
[component_container_isolated-1] [WARN] [1684640658.532356415] [behavior_server]: [spin] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640658.560209948] [behavior_server]: Running wait
[component_container_isolated-1] [INFO] [1684640663.561947939] [behavior_server]: wait completed successfully
[component_container_isolated-1] [WARN] [1684640663.596017219] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640663.596061031] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640663.596068862] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640663.612621966] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-1] [WARN] [1684640664.409307189] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640664.409351021] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640664.409359701] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640664.422471260] [behavior_server]: Running backup
[component_container_isolated-1] [WARN] [1684640664.422703952] [behavior_server]: Collision Ahead - Exiting DriveOnHeading
[component_container_isolated-1] [WARN] [1684640664.422717213] [behavior_server]: backup failed
[component_container_isolated-1] [WARN] [1684640664.422723973] [behavior_server]: [backup] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640664.433902120] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1684640664.434469418] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-1] [WARN] [1684640665.408203677] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640665.408253249] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640665.408262210] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640665.422219073] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-1] [WARN] [1684640666.405216910] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640666.405269292] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640666.405279032] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640666.417142461] [behavior_server]: Running spin
[component_container_isolated-1] [INFO] [1684640666.417216425] [behavior_server]: Turning 1.57 for spin behavior.
[component_container_isolated-1] [WARN] [1684640666.517740731] [behavior_server]: Collision Ahead - Exiting Spin
[component_container_isolated-1] [WARN] [1684640666.517776583] [behavior_server]: spin failed
[component_container_isolated-1] [WARN] [1684640666.517784163] [behavior_server]: [spin] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640666.542622255] [behavior_server]: Running wait
[component_container_isolated-1] [INFO] [1684640671.543672781] [behavior_server]: wait completed successfully
[component_container_isolated-1] [WARN] [1684640671.577536464] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640671.577600906] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640671.577608957] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640671.592772954] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-1] [WARN] [1684640672.408980348] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640672.409025140] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640672.409035010] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640672.431500145] [behavior_server]: Running backup
[component_container_isolated-1] [WARN] [1684640672.431690360] [behavior_server]: Collision Ahead - Exiting DriveOnHeading
[component_container_isolated-1] [WARN] [1684640672.431702690] [behavior_server]: backup failed
[component_container_isolated-1] [WARN] [1684640672.431708490] [behavior_server]: [backup] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640672.452615442] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1684640672.453219799] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-1] [WARN] [1684640673.406357526] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640673.406403647] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640673.406412347] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640673.422510530] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-1] [WARN] [1684640674.406706805] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640674.406751966] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640674.406760327] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640674.426272357] [behavior_server]: Running spin
[component_container_isolated-1] [INFO] [1684640674.426435611] [behavior_server]: Turning 1.57 for spin behavior.
[component_container_isolated-1] [WARN] [1684640674.526948197] [behavior_server]: Collision Ahead - Exiting Spin
[component_container_isolated-1] [WARN] [1684640674.526984018] [behavior_server]: spin failed
[component_container_isolated-1] [WARN] [1684640674.526991238] [behavior_server]: [spin] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640674.565445574] [behavior_server]: Running wait
[component_container_isolated-1] [INFO] [1684640679.566206836] [behavior_server]: wait completed successfully
[component_container_isolated-1] [WARN] [1684640679.602154863] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640679.602221363] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640679.602232774] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1684640679.612462329] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-1] [WARN] [1684640680.409568476] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[component_container_isolated-1] [WARN] [1684640680.409622657] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)
[component_container_isolated-1] [WARN] [1684640680.409631517] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [ERROR] [1684640680.432466604] [bt_navigator]: Goal failed
[component_container_isolated-1] [WARN] [1684640680.432512194] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.

          终端输出

          小鱼小 1 条回复 最后回复 回复 引用 0
          • 小鱼小
            小鱼 技术大佬 @2496480233
            最后由 编辑

            @2496480233 在 navi导航停车抱死 中说：

            Planning algorithm GridBased failed to generate a valid path to (1.62, -0.03)

            地图看起来很乱，带点的都是障碍物，看提示是找不到过去的路径

            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

            24964802332 1 条回复 最后回复 回复 引用 0
            • 24964802332
              TAP-APIA @小鱼
              最后由 编辑

              @小鱼 13bdcef5-24a6-4715-a1e6-bcbb43d48f18-image.png
              6de59c5a-9655-4e1e-8807-19144f3b4a9c-image.png
              您看 我拍的就是地图中这一大片红色 这些地方现实中明明是空的啊

              24964802332 1 条回复 最后回复 回复 引用 0
              • 24964802332
                TAP-APIA @2496480233
                最后由 编辑

                @2496480233
                7b08795f-66e9-4a4f-a4c3-3a0b1e5f0c75-image.png
                f8337962-7729-42de-83f2-5bca86a3dc8f-image.png
                这是我给navi2发的起止点 以及在现实中的点 这中间没有障碍物啊

                小鱼小 1 条回复 最后回复 回复 引用 0
                • 小鱼小
                  小鱼 技术大佬 @2496480233
                  最后由 编辑

                  @2496480233 原始地图贴一下，看看图建的咋样

                  新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                  24964802332 1 条回复 最后回复 回复 引用 0
                  • 24964802332
                    TAP-APIA @小鱼
                    最后由 编辑

                    @小鱼 75aae4d8-5dd2-4c8e-ba3d-ee77d080e720-image.png 这个是原始地图

                    1 条回复 最后回复 回复 引用 0
                    • 第一个帖子
                      最后一个帖子
                    皖ICP备16016415号-7
                    Powered by NodeBB | 鱼香ROS