@小鱼 这个地图存在新出现的障碍物的问题还是没有解决
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1683127550 发布的帖子
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RE: 求助,使用官方代码和套件导航部分出错
@小鱼 我这还有一些问题就是我在导航的时候,如果场景中出现了新的障碍物,雷达检测到,然后标红,但是障碍物移开之后,雷达再次检测在地图中并没有消失,是什么原因?
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RE: 求助,使用官方代码和套件导航部分出错
@小鱼 应该就是ros2和miscroRos通信出问题了,我这边重新编译了好多次通信节点和导航节点,才解决,之前我测试的时候,用小车不行,但是你给的那个仿真的可以
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RE: 求助,使用官方代码和套件导航部分出错
@小鱼
我重新下载了一下源码编译了一下,现在和刚才错误显示不一样了
这个是 rqt-tf-tree
我这边给出小车的初始坐标和方向之后,显示这些,好像是有我点击的点的信息,但是小车那边还是没反应
在这个基础上我重启了一下雷达,然后显示这样:
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RE: 求助,使用官方代码和套件导航部分出错
@小鱼 雷达和里程计测试通过,所有线都没有松动,现在数据是这样的
用键盘控制小车,第一张图中数据发生改变
但是小车自动导航的还是不行
这里我点了 2D Pose Estimate 还是没有反应 -
RE: 求助,使用官方代码和套件导航部分出错
@小鱼 现在这个导航还是不行
[fishbot_bringup-3] [INFO] [1684297618.592733226] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.642721159] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.697918550] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.744630143] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.792818679] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.846763764] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.892678126] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.948881983] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.994080727] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.042907219] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.092701254] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.142849847] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.195839205] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.244609172] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.293874121] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.342679295] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.393012918] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.448678313] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.492884034] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.542696973] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.592824863] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.642683509] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.693095345] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.742750157] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.792857044] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.844838337] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
数据还是一直这样,其他部分都是好的,只有小车自动导航这里不行,移动小车数据不变,然后另一个中断返回值是这样的:
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RE: 求助,使用官方代码和套件导航部分出错
@小鱼 就是我用键盘节点控制车吗,我明天试试,今天上课没啥时间,我想问一下,如果没有车能运行那个自动导航的launch吗,还是有别的部分能代替,做没有车的情况下的自动导航?
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RE: 求助,使用官方代码和套件导航部分出错
@小鱼 [fishbot_bringup-3] [INFO] [1684061786.308399678] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.362661967] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.408034740] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.457737273] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.507190908] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.556860840] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.606942969] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.656883799] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.707086627] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.756955658] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.807189986] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)是这样的
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RE: 求助,使用官方代码和套件导航部分出错
@小鱼 cal_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1684060918.591872482] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1684060919.091844695] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1684060919.591846208] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1684060920.091869820] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1684060920.591862633] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist中断一直输出这一个
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RE: 求助,使用官方代码和套件导航部分出错
@小鱼 雷达偶尔几次连接时会出现这样:
#? 1
UART2SOCKET:8888->/tmp/fishbot_laser
Prepare to Accept connect!但是连接成功之后还是没用,目前雷达没问题
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求助,使用官方代码和套件导航部分出错
FishBot基础版*1台
装有Ubuntu22.04和ROS2的Linux笔记本或台式机
测试主要源码:https://github.com/fishros/fishbot/tree/v1.0.0
使用的是ubuntu22,ROS2版本是humble,在烧录成功之后直接按照网站上的步骤进行操作的,从头到尾
这几步按顺序做的,但是我在建图之后,用ps将地图修改了一下,然后就直接启动雷达并进行导航,这里出现了导航那里失败了
在导航过程中出现问题,这里我在导航设置小车位置的过程点击 2F Point Estimate 设置点和方向之后,还是没有反应,无法进行导航,好像是没有设置成功,该怎么解决
这里网络环境测试没有问题,代码就是上面步骤里面的代码连接直接下载的
控制台输出如下:
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RE: [FishBot教程]7. FishBot-Nav2导航测试
@小鱼 使用的是ubuntu22,ROS2版本是humble,在烧录成功之后直接按照网站上的步骤进行操作的,从头到尾
这几步按顺序做的,但是我在建图之后,用ps将地图修改了一下,然后就直接启动雷达并进行导航,这里出现了导航那里失败了
在导航过程中出现问题,这里我在导航设置小车位置的过程点击 2F Point Estimate 设置点和方向之后,还是没有反应,无法进行导航,好像是没有设置成功,该怎么解决
这里网络环境测试没有问题,代码就是上面步骤里面的代码连接直接下载的