求教一下moveit!的joint state节点是在哪儿发布的 想修改一下发布频率没找到
回复keai 发起了问题 • 0 人关注 • 0 个回复 • 1399 次浏览 • 2019-10-10 13:30
使用语音包遇到的问题，fatal error: alsa/asoundlib.h，cannot find -lmsc
回复ddwy 发起了问题 • 1 人关注 • 0 个回复 • 2808 次浏览 • 2019-08-02 13:45
测试建图遇到的问题整理
lalala 发表了文章 • 0 个评论 • 5131 次浏览 • 2019-07-22 17:45
设置完机器人的urdf模型，再运行slam建图程序出现一下报错
Warning: TF_OLD_DATA ignoring data from the past for frame imu_link at time 1.56379e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame imu_link at time 1.56379e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
解决方法：
经检查发现是tf变换冲突，本来启动imu的launch文件里面写了tf变换，这跟urdf里面设置的重复了，注释掉启动imu的launch文件中的tf变换语句后，程序运行正常
问题二：
测试karto算法建图时，发现rviz中有一系列连续的黑点，其为机器人已走过的痕迹，之前在tb3上也遇到过这样的问题
待解决：
参考资料：
https://answers.ros.org/question/232523/slam_karto-marks-grid-cell-underneath-real-robot-as-occupied/ 查看全部
设置完机器人的urdf模型，再运行slam建图程序出现一下报错
Warning: TF_OLD_DATA ignoring data from the past for frame imu_link at time 1.56379e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame imu_link at time 1.56379e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
解决方法：
经检查发现是tf变换冲突，本来启动imu的launch文件里面写了tf变换，这跟urdf里面设置的重复了，注释掉启动imu的launch文件中的tf变换语句后，程序运行正常
问题二：
测试karto算法建图时，发现rviz中有一系列连续的黑点，其为机器人已走过的痕迹，之前在tb3上也遇到过这样的问题
待解决：
参考资料：
测试导航时遇到的问题整理
lalala 发表了文章 • 0 个评论 • 3829 次浏览 • 2019-07-20 12:10
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/53759308http://ros-users.122217.n3.nabble.com/Navigation-Goal-td1681228.html 查看全部
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
