测试导航时遇到的问题整理

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

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
参考资料：

• https://blog.csdn.net/qq_24747993/article/details/53759308
• http://ros-users.122217.n3.nabble.com/Navigation-Goal-td1681228.html