启动turtlebot报错
Turtlebot相关 • ncnynl 回复了问题 • 2 人关注 • 1 个回复 • 76 次浏览 • 1 天前
测试导航时遇到的问题整理
ROS相关 • lalala 发表了文章 • 0 个评论 • 14 次浏览 • 1 天前
问题一：测试ailibot导航时，出现off map 的报错
[ WARN] [1563590145.137041656]: Off Map 1.159504, -3.989272
[ WARN] [1563590145.137944517]: Off Map 1.166918, -3.960472
解决方法：查阅资料发现是local_costmap_params的里面的参数设置问题
local_costmap:global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 1.0 #before 5.0
publish_frequency: 5.0 #before 2.0
static_map: false
rolling_window: true
width: 5 #2.5
height: 5 #2.5
resolution: 0.05 #increase to for higher res 0.025
transform_tolerance: 0.5
cost_scaling_factor: 5
inflation_radius: 0.55
这里的地图长度和宽度参数本来设置是2.5，改为5后，导航正常
问题二：在树莓派上运行导航程序出现 Control loop missed its desired rate of 5.0000Hz
[ WARN] [1563593333.572693588]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.3753 seconds
[ WARN] [1563593333.819416422]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.4222 seconds
[i]未解决：参阅了资料，发现这个好像是跟树莓派的处理能力有关，这个到时再测试像tb3一样的主从方式，在pc上执行导航程序[/i]参考资料：https://blog.csdn.net/qq_24747993/article/details/53759308http://ros-users.122217.n3.nabble.com/Navigation-Goal-td1681228.html 查看全部
- 问题一：测试ailibot导航时，出现off map 的报错
[ WARN] [1563590145.137041656]: Off Map 1.159504, -3.989272
[ WARN] [1563590145.137944517]: Off Map 1.166918, -3.960472
- 解决方法：查阅资料发现是local_costmap_params的里面的参数设置问题
local_costmap:global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 1.0 #before 5.0
publish_frequency: 5.0 #before 2.0
static_map: false
rolling_window: true
width: 5 #2.5
height: 5 #2.5
resolution: 0.05 #increase to for higher res 0.025
transform_tolerance: 0.5
cost_scaling_factor: 5
inflation_radius: 0.55
- 这里的地图长度和宽度参数本来设置是2.5，改为5后，导航正常
- 问题二：在树莓派上运行导航程序出现 Control loop missed its desired rate of 5.0000Hz
[ WARN] [1563593333.572693588]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.3753 seconds
[ WARN] [1563593333.819416422]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.4222 seconds
- [i]未解决：参阅了资料，发现这个好像是跟树莓派的处理能力有关，这个到时再测试像tb3一样的主从方式，在pc上执行导航程序[/i]
- 参考资料：
- https://blog.csdn.net/qq_24747993/article/details/53759308
- http://ros-users.122217.n3.nabble.com/Navigation-Goal-td1681228.html
ubuntu1604 apt update 失败 An error occurred during the signature verification.
回复Linux系统相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 90 次浏览 • 2019-07-06 19:59
在执行gmapping建图时报错
Turtlebot3 • ncnynl 回复了问题 • 2 人关注 • 1 个回复 • 108 次浏览 • 2019-06-29 12:04
