路径寻迹时，读取csv文件在rviz里面显示path失败

[小丑汪]

各位大佬，我想实现控制小车走一圈，记录下路径点，然后小车跟踪路径点走，在读取csv文件显示路径的时候，rviz会自己结束，下面是报错。本人基础比较差，希望各位大佬解答一下

[showpath-2] process has died [pid 14866, exit code -11, cmd /home/www/xul307a_ws/devel/lib/path_track/showpath __name:=showpath __log:=/home/www/.ros/log/ec073fd6-017e-11ed-a45a-d4548b799fd2/showpath-2.log].
log file: /home/www/.ros/log/ec073fd6-017e-11ed-a45a-d4548b799fd2/showpath-2*.log
================================================================================REQUIRED process [rviz-3] has died!
process has finished cleanly
log file: /home/www/.ros/log/ec073fd6-017e-11ed-a45a-d4548b799fd2/rviz-3*.log
Initiating shutdown!
================================================================================

这是显示csv文件的代码

#include <ros/ros.h>
#include <ros/console.h>
#include <nav_msgs/Path.h>
#include <std_msgs/String.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/PoseStamped.h>

#include <iostream>
#include <sstream>
#include <fstream>
#include <string>

#include "path_track/waypoint.h"
#include "path_track/Lane.h"

using namespace std;


string file_path ;
vector<string> vp;
int velocity;

void readfile(const std::string path , vector<string> &pathdata)
{
    std::ifstream infile;
    infile.open(path.c_str(),ios::in); 

    while (!infile.eof())
    {
        string linestr;
        getline(infile,linestr);
        if (!linestr.empty())
        {
            pathdata.push_back(linestr);

        }
    }
    infile.close();
}


int main(int argc, char *argv[])
{
    setlocale(LC_ALL, "");
    ros::init(argc,argv,"showpath");
    ros::NodeHandle nh;
    
    ros::param::get("/path",file_path);
    ros::param::get("/velocity",velocity);
    readfile(file_path, vp);

    ros::Publisher pub_Path = nh.advertise<nav_msgs::Path>("/pub_Path", 2000);
    ros::Publisher pub_waypoints = nh.advertise<path_track::Lane>("/base_waypoint", 2000);

    nav_msgs::Path path;
    geometry_msgs::PoseStamped pose;
    path_track::waypoint waypoints; 
    path_track::Lane lane;

    path.header.frame_id = "camera_init";
    path.header.stamp = ros::Time::now();
    lane.header.frame_id = "camera_init";
    lane.header.stamp = ros::Time::now();
    waypoints.pose.header.frame_id = "camera_init";
    waypoints.pose.header.stamp = ros::Time::now();
    
    int i = 0;
    int data_size = vp.size();  
    ros::Rate r(10);

    while (ros::ok())
    {
        pose.header.frame_id = "camera_init";
        pose.header.stamp = ros::Time::now();
        
		string data[7];
		istringstream tmp(vp[i]);
		tmp>>data[0]>>data[1]>>data[2]>>data[3]>>data[4]>>data[5]>>data[6];

        pose.pose.position.x = (data[0] == "" ? 0 : stod(data[0].c_str()));
        pose.pose.position.y = (data[1] == "" ? 0 : stod(data[1].c_str()));
        pose.pose.position.z = (data[2] == "" ? 0 : stod(data[2].c_str()));
        pose.pose.orientation.x = (data[3] == "" ? 0 : stod(data[3].c_str()));
        pose.pose.orientation.y = (data[4] == "" ? 0 : stod(data[4].c_str()));
        pose.pose.orientation.z = (data[5] == "" ? 0 : stod(data[5].c_str()));
        pose.pose.orientation.w = (data[6] == "" ? 1 : stod(data[6].c_str()));
        waypoints.pose.pose.position.x=stod(data[0].c_str());
        waypoints.pose.pose.position.y=stod(data[1].c_str());
        waypoints.pose.pose.position.z=stod(data[2].c_str());
        waypoints.pose.pose.orientation.x=stod(data[3].c_str());
        waypoints.pose.pose.orientation.y=stod(data[4].c_str());
        waypoints.pose.pose.orientation.z=stod(data[5].c_str());
        waypoints.pose.pose.orientation.w=stod(data[6].c_str());
        waypoints.twist.twist.linear.x = velocity;

        path.poses.push_back(pose); 
        lane.waypoints.push_back(waypoints);

        pub_Path.publish(path);
        pub_waypoints.publish(lane);
        i++;

        r.sleep();
        ros::spinOnce();

    }
    return 0;
}

[小鱼]

@小丑汪 在 路径寻迹时，读取csv文件在rviz里面显示path失败 中说：

下面是报错

这个是运行什么指令报的错

[小丑汪]

@小鱼 是运行launch时报错的，运行rviz是这样的。

<launch>
    <param name="path" value="$(find path_track)/data/path1.csv" />
    <param name="velocity" value="1" />
    <node pkg="path_track" type="showpath" name="showpath" output="screen"/>
    <!--<node pkg="path_track" type="waypoint_updater.py" name="waypoint_updater" />-->
    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find path_track)/rviz/showpath2.rviz" required="true" />
</launch>

[小鱼]

@小丑汪 在你的代码里把文件路径打出来，确认是否有正确的读取到了，一步步排查即可。