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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 • 499 次浏览 • 2019-07-20 12:10 • 来自相关话题

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/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


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:

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 • 499 次浏览 • 2019-07-20 12:10 • 来自相关话题

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/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


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: