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Ubuntu 1804 编译realsense-ros包报错

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ROS相关lalala 回复了问题 • 1 人关注 • 2 个回复 • 35 次浏览 • 6 天前 • 来自相关话题

使用usb摄像头报错:CameraInfo/P resulted in an invalid position calculation (nans or infs)

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ROS相关lalala 回复了问题 • 1 人关注 • 1 个回复 • 81 次浏览 • 2020-07-15 17:42 • 来自相关话题

上传固件时遇到 Fail to open port 1 : /dev/ttyACM0

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Turtlebot3lalala 回复了问题 • 1 人关注 • 1 个回复 • 780 次浏览 • 2019-12-24 15:16 • 来自相关话题

Turtlebot3多机建图时出现的tf问题

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Turtlebot3lalala 回复了问题 • 0 人关注 • 1 个回复 • 801 次浏览 • 2019-12-05 18:25 • 来自相关话题

ORB_SLAM2 安装编译报错:“undefined reference to symbol '_ZN5boost6system15system_categoryEv'”

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ROS相关lalala 回复了问题 • 1 人关注 • 1 个回复 • 1030 次浏览 • 2019-09-20 18:32 • 来自相关话题

虚拟机 ubuntu 1804 编译tb3_ros2包时,报错c++: internal compiler error: Killed (program cc1plus)

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ROS2相关lalala 回复了问题 • 1 人关注 • 1 个回复 • 858 次浏览 • 2019-09-03 09:35 • 来自相关话题

执行py脚本报错 The publisher should be created with an explicit keyword argument 'queue_size'.

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ROS相关lalala 回复了问题 • 1 人关注 • 1 个回复 • 599 次浏览 • 2019-08-30 12:37 • 来自相关话题

安装arduino-1.0.6后 打开有 arduino: java: not found

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Linux系统相关lalala 回复了问题 • 1 人关注 • 1 个回复 • 305 次浏览 • 2019-08-15 16:45 • 来自相关话题

测试建图遇到的问题整理

ROS相关lalala 发表了文章 • 0 个评论 • 997 次浏览 • 2019-07-22 17:45 • 来自相关话题

问题一:
 
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
问题一:
 
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

微信图片_20190723164255.png

 
待解决: 
参考资料:

启动turtlebot报错

Turtlebot相关ncnynl 回复了问题 • 2 人关注 • 1 个回复 • 1100 次浏览 • 2019-07-20 14:56 • 来自相关话题

条新动态, 点击查看
lalala

lalala 回答了问题 • 2019-12-05 15:37 • 1 个回复 不感兴趣

Turtlebot3多机建图时出现的tf问题

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解决方法
  ubuntu@burger:~$ locate SerialClient
/opt/ros/kinetic/lib/python2.7/dist-packages/rosserial_python/SerialClient.py
/opt/r... 显示全部 »
解决方法
  ubuntu@burger:~$ locate SerialClient
/opt/ros/kinetic/lib/python2.7/dist-packages/rosserial_python/SerialClient.py
/opt/ros/kinetic/lib/python2.7/dist-packages/rosserial_python/SerialClient.pyc

ubuntu@burger:~$ sudo vim /opt/ros/kinetic/lib/python2.7/dist-packages/rosserial_python/SerialClient.py 修改341行的 timeout值 增大延时时间 def __init__(self, port=None, baud=57600, timeout=5.0, fix_pyserial_for_test=False):


重新启动小车及查看tf树
 
启动后OpenCR反馈出来的信息
 

[INFO] [1575526873.772037]: Setup TF on Odometry [tb3_0/odom]
[INFO] [1575526873.778939]: Setup TF on IMU [tb3_0/imu_link]
[INFO] [1575526873.785893]: Setup TF on MagneticField [tb3_0/mag_link]
[INFO] [1575526873.791598]: Setup TF on JointState [tb3_0/base_link]
 

11
 [code]ubuntu@burger:~$ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan"
... logging to /home/ubuntu/.ros/log/bfe964d6-1722-11ea-8909-000c2965f318/roslaunch-burger-1750.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.25:39079/

SUMMARY
========

PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /tb3_0/turtlebot3_core/baud: 115200
* /tb3_0/turtlebot3_core/port: /dev/ttyACM0
* /tb3_0/turtlebot3_core/tf_prefix: tb3_0
* /tb3_0/turtlebot3_lds/frame_id: tb3_0/base_scan
* /tb3_0/turtlebot3_lds/port: /dev/ttyUSB0

NODES
/tb3_0/
turtlebot3_core (rosserial_python/serial_node.py)
turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.184:11311

process[tb3_0/turtlebot3_core-1]: started with pid [1759]
process[tb3_0/turtlebot3_lds-2]: started with pid [1760]
process[tb3_0/turtlebot3_diagnostics-3]: started with pid [1761]
[INFO] [1575526868.439246]: ROS Serial Python Node
[INFO] [1575526868.512420]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1575526870.655526]: Note: publish buffer size is 1024 bytes
[INFO] [1575526870.658004]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1575526870.673665]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]
[INFO] [1575526870.753997]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1575526870.776517]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1575526870.799170]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1575526870.826280]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1575526870.844346]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1575526870.857858]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1575526873.165272]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1575526873.200181]: Note: subscribe buffer size is 1024 bytes
[INFO] [1575526873.201801]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1575526873.227525]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1575526873.257460]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1575526873.299892]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1575526873.772037]: Setup TF on Odometry [tb3_0/odom]
[INFO] [1575526873.778939]: Setup TF on IMU [tb3_0/imu_link]
[INFO] [1575526873.785893]: Setup TF on MagneticField [tb3_0/mag_link]
[INFO] [1575526873.791598]: Setup TF on JointState [tb3_0/base_link]
[INFO] [1575526873.805208]: --------------------------
[INFO] [1575526873.811731]: Connected to OpenCR board!
[INFO] [1575526873.818080]: This core(v1.2.3) is compatible with TB3 Burger
[INFO] [1575526873.824910]: --------------------------
[INFO] [1575526873.831345]: Start Calibration of Gyro
[INFO] : Calibration End
参考资料
 

​https://github.com/ROBOTIS-GIT/turtlebot3/issues/340

Ubuntu 1804 编译realsense-ros包报错

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ROS相关lalala 回复了问题 • 1 人关注 • 2 个回复 • 35 次浏览 • 6 天前 • 来自相关话题

使用usb摄像头报错:CameraInfo/P resulted in an invalid position calculation (nans or infs)

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ROS相关lalala 回复了问题 • 1 人关注 • 1 个回复 • 81 次浏览 • 2020-07-15 17:42 • 来自相关话题

上传固件时遇到 Fail to open port 1 : /dev/ttyACM0

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Turtlebot3lalala 回复了问题 • 1 人关注 • 1 个回复 • 780 次浏览 • 2019-12-24 15:16 • 来自相关话题

Turtlebot3多机建图时出现的tf问题

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Turtlebot3lalala 回复了问题 • 0 人关注 • 1 个回复 • 801 次浏览 • 2019-12-05 18:25 • 来自相关话题

ORB_SLAM2 安装编译报错:“undefined reference to symbol '_ZN5boost6system15system_categoryEv'”

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ROS相关lalala 回复了问题 • 1 人关注 • 1 个回复 • 1030 次浏览 • 2019-09-20 18:32 • 来自相关话题

虚拟机 ubuntu 1804 编译tb3_ros2包时,报错c++: internal compiler error: Killed (program cc1plus)

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ROS2相关lalala 回复了问题 • 1 人关注 • 1 个回复 • 858 次浏览 • 2019-09-03 09:35 • 来自相关话题

执行py脚本报错 The publisher should be created with an explicit keyword argument 'queue_size'.

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ROS相关lalala 回复了问题 • 1 人关注 • 1 个回复 • 599 次浏览 • 2019-08-30 12:37 • 来自相关话题

安装arduino-1.0.6后 打开有 arduino: java: not found

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Linux系统相关lalala 回复了问题 • 1 人关注 • 1 个回复 • 305 次浏览 • 2019-08-15 16:45 • 来自相关话题

启动turtlebot报错

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Turtlebot相关ncnynl 回复了问题 • 2 人关注 • 1 个回复 • 1100 次浏览 • 2019-07-20 14:56 • 来自相关话题

编译后 找不到ros包

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ROS相关lalala 回复了问题 • 1 人关注 • 1 个回复 • 531 次浏览 • 2019-07-17 15:48 • 来自相关话题

测试建图遇到的问题整理

ROS相关lalala 发表了文章 • 0 个评论 • 997 次浏览 • 2019-07-22 17:45 • 来自相关话题

问题一:
 
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
问题一:
 
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

微信图片_20190723164255.png

 
待解决: 
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: