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    SciMaker

    @SciMaker

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    SciMaker 发布的最佳帖子

    • RE: jeston ubuntu20.04安装ros2 humble

      @阿甘 20.04不行，22.04可以

      发布在 一键安装
      SciMaker
      SciMaker

    SciMaker 发布的最新帖子

    • RE: ros2发布话题运行结果总是不对

      @1503153906 在python代码里

      发布在 综合问题
      SciMaker
      SciMaker
    • RE: ROS2humble创建自定义接口失败

      @841279448 试一下source ~/install/setup.bash

      发布在 综合问题
      SciMaker
      SciMaker
    • RE: ros2发布话题运行结果总是不对

      @1503153906 底部加上if name == ‘main’: main()

      发布在 综合问题
      SciMaker
      SciMaker
    • RE: ros2发布话题运行结果总是不对

      @1503153906 可以看一下Python源码么

      发布在 综合问题
      SciMaker
      SciMaker
    • RE: Nav2导航过程中使机器人原地旋转的方法

      @小鱼 非常感谢您的回复。这个操作我之前做过，但是在实际中发现我的这个自定义节点与nav2的节点对cmd_vel话题的操控会发生冲突，体现在机器人端就是机器人会在原地抖动。

      发布在 Nav2
      SciMaker
      SciMaker
    • Nav2导航过程中使机器人原地旋转的方法

      各位大佬好！目前我有一个如下需求：在nav2导航到达一个目标点后进行原地旋转，我尝试过通过一个新的node对cmd_vel的话题发布消息，但是不起作用，应该是Nav2框架中已经有了发布cmd_vel话题的node，二者产生了冲突，想问一下有没有好的解决方法

      发布在 Nav2 nav2 导航 目标物体识别
      SciMaker
      SciMaker
    • RE: ros2机器人foxy版用笔记本摄像头跑单目orb_slam3

      @毛哥成山轮胎机油保养 谢谢回复，我的设备中是有个文件的，目前通过改写CMakelists把路径加进去了，问题解决了啦

      发布在 移动平台分享
      SciMaker
      SciMaker
    • RE: ros2机器人foxy版用笔记本摄像头跑单目orb_slam3

      @毛哥成山轮胎机油保养 你好，我用的是galactic版本，步骤一样但在编译ROS2包的时候会报错：
      /usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to DUtils::Random::RandomInt(int, int)' /usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to DUtils::Random::SeedRandOnce()'
      /usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to DUtils::Random::SeedRandOnce(int)' /usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to DBoW2::FORB::L'
      请问你遇到过这个问题么

      发布在 移动平台分享
      SciMaker
      SciMaker
    • ros2 orbslam3 build error

      BackGround: 在Xavier上编译ros2的orbslam包出现错误
      system：Ubuntu 20.04+ros galactic
      error:

      /usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::RandomInt(int, int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce()'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce(int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::L'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/mono.dir/build.make:253: mono] Error 1
make[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/mono.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::RandomInt(int, int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce()'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce(int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::L'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/stereo.dir/build.make:254: stereo] Error 1
make[1]: *** [CMakeFiles/Makefile2:111: CMakeFiles/stereo.dir/all] Error 2
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::RandomInt(int, int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce()'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce(int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::L'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rgbd.dir/build.make:254: rgbd] Error 1
make[1]: *** [CMakeFiles/Makefile2:138: CMakeFiles/rgbd.dir/all] Error 2
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::RandomInt(int, int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce()'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce(int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::L'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/stereo-inertial.dir/build.make:253: stereo-inertial] Error 1
make[1]: *** [CMakeFiles/Makefile2:84: CMakeFiles/stereo-inertial.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< orbslam3 [6.54s, exited with code 2]

Summary: 1 package finished [10.4s]
  1 package failed: orbslam3
  1 package had stderr output: orbslam3

      我的CMakeLists.txt:

      cmake_minimum_required(VERSION 3.5)
project(orbslam3)

# You should set the PYTHONPATH to your own python site-packages path
# set(ENV{PYTHONPATH} "/opt/ros/foxy/lib/python3.8/site-packages/")

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

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(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge_orbslam3 REQUIRED)
find_package(message_filters REQUIRED)
find_package(Sophus REQUIRED)
find_package(Pangolin REQUIRED)
find_package(ORB_SLAM3 REQUIRED)
find_package(DBoW2 REQUIRED)



include_directories(
  include
  ${ORB_SLAM3_ROOT_DIR}/include
  ${ORB_SLAM3_ROOT_DIR}/include/CameraModels
  ${OpenCV_INCLUDE_DIRS}
)

link_directories(
  include
)

# add_library(libdbo2w SHARED
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DBoW2/BowVector.cpp
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DBoW2/FORB.cpp
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DBoW2/FeatureVector.cpp
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DBoW2/ScoringObject.cpp
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DUtils/Timestamp.cpp
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DUtils/Random.cpp
# )


add_executable(mono
  src/monocular/mono.cpp
  src/monocular/monocular-slam-node.cpp
)
ament_target_dependencies(mono rclcpp sensor_msgs cv_bridge_orbslam3 ORB_SLAM3 Pangolin) 
target_link_libraries(mono DBoW2)


add_executable(rgbd
  src/rgbd/rgbd.cpp
  src/rgbd/rgbd-slam-node.cpp
)
ament_target_dependencies(rgbd rclcpp sensor_msgs cv_bridge_orbslam3 message_filters ORB_SLAM3 Pangolin)
target_link_libraries(rgbd DBoW2)

add_executable(stereo
  src/stereo/stereo.cpp
  src/stereo/stereo-slam-node.cpp
)
ament_target_dependencies(stereo rclcpp sensor_msgs cv_bridge_orbslam3 message_filters ORB_SLAM3 Pangolin)
target_link_libraries(stereo DBoW2)

add_executable(stereo-inertial
  src/stereo-inertial/stereo-inertial.cpp
  src/stereo-inertial/stereo-inertial-node.cpp
)
ament_target_dependencies(stereo-inertial rclcpp sensor_msgs cv_bridge_orbslam3 ORB_SLAM3 Pangolin)
target_link_libraries(stereo-inertial DBoW2)

install(TARGETS mono rgbd stereo stereo-inertial
  DESTINATION lib/${PROJECT_NAME})

# Install launch files.
#install(DIRECTORY launch config vocabulary
#  DESTINATION share/${PROJECT_NAME}/)

ament_package()

      麻烦各位大佬了

      发布在 ROS2 ros2编译 orbslam3 colcon build
      SciMaker
      SciMaker
    • RE: ros创建功能包如何同时支持cpp和python

      @Lorry 您好，是这样，但是按照您说的方法，可能开发的单个功能会需要至少两个功能包（C++和Python），但是我可能希望一个功能集成在一个功能包内，这是我主要的需求以及问题。谢谢。

      发布在 ROS2
      SciMaker
      SciMaker