FAEL仿真问题请教
Krasjet-Yu opened this issue · comments
您好，非常感谢您能开源代码！！！
有几个运行仿真时候遇到的问题想向您请教一下，我在运行FAEL的时候发现TF变换中没有No transform from [jackal/velodyne/gazebo_gt/odometry_sensor_link] to [world]。但是我看VLP_16.urdf.xacro文件中在librotors_gazebo_odometry_no_tf_plugin是有这两个link的转换的，而且也发布出去了jackal/velodyne/gazebo_gt/pose的话题。然后我看TF树的时候也没找到odometry_sensor_link，rivz中也显示没有这个变换还有frontiers_viepoints显示是empty points。
还有就是我运行了三个终端以后，小车仅移动一段距离然后就停止探索了，有如下信息：
[ INFO] [1695569637.337416059, 3593.986000000]: the path get.
[ WARN] [1695569637.337444154, 3593.986000000]: this iteration get an empty path ,need next planning iteration
[ INFO] [1695569637.337457931, 3593.986000000]: Planning iteration 74399
[ INFO] [1695569637.337465781, 3593.986000000]: call for the path to explore..
[ WARN] [1695569637.340095994, 3593.989000000]: tourpoints is empty, planning finish..
[ INFO] [1695569637.340181339, 3593.989000000]: the path get.
[ WARN] [1695569637.340204560, 3593.989000000]: this iteration get an empty path ,need next planning iteration
[ INFO] [1695569637.340225768, 3593.989000000]: Planning iteration 74400
[ INFO] [1695569637.340237911, 3593.989000000]: call for the path to explore..
[ WARN] [1695569637.342606056, 3593.992000000]: tourpoints is empty, planning finish..
[ INFO] [1695569637.342759483, 3593.992000000]: the path get.
[ WARN] [1695569637.342793704, 3593.992000000]: this iteration get an empty path ,need next planning iteration
希望您有时间的时候可以解答一二，感谢。
好像开仿真器的时候有个这样的错误
[ INFO] [1695571669.492088871, 3366.863000000]: Loading gazebo_ros_control plugin
[ INFO] [1695571669.492238602, 3366.863000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1695571669.493181193, 3366.863000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1695571669.608110258, 3366.863000000]: Loaded gazebo_ros_control.
[urdf_spawner-7] process has died [pid 22331, exit code 1, cmd /home/krasjet/Documents/ros1/catkin_ws/devel/lib/gazebo_ros/spawn_model -urdf -model jackal -param robot_description -x 0 -y 0 -z 1.5 __name:=urdf_spawner __log:=/home/krasjet/.ros/log/8042f788-5af4-11ee-b14c-07584df5e901/urdf_spawner-7.log].
log file: /home/krasjet/.ros/log/8042f788-5af4-11ee-b14c-07584df5e901/urdf_spawner-7*.log
[ INFO] [1695571669.892395202, 3367.038000000]: Controller state will be published at 50Hz.
[ INFO] [1695571669.892931200, 3367.038000000]: Wheel separation will be multiplied by 1.5.
[ INFO] [1695571669.893348086, 3367.039000000]: Left wheel radius will be multiplied by 1.
[ INFO] [1695571669.893362380, 3367.039000000]: Right wheel radius will be multiplied by 1.
[ INFO] [1695571669.893557322, 3367.039000000]: Velocity rolling window size of 10.
[ INFO] [1695571669.893892642, 3367.039000000]: Velocity commands will be considered old if they are older than 0.25s.
这个是gazebo版本问题吗？因为我安装教程的包时，会安装gazebo11，但是我的电脑gazebo11不显示无人车模型，调成gazebo9就可以显示，是因为这个问题吗？如果是的话，有什么办法能在不升gazebo版本的基础上调通呢（因为我这里的px4的mavros也只能用gazebo9所以不想来回升降级hhh）
建议删除编译文件后重新编译尝试，印象中gazebo9无法成功编译 ，如果编通后是tf 错误，那么可能就是gazebo9的问题。建议寻找jackal 和 rotors 这两个包 对应 ubuntu 16.04版本的仿真模型(应该是gazebo9的)， 另外librotors_gazebo_odometry_no_tf_plugin 这个插件对比 rotors 原始的librotors_gazebo_odometry_plugin只是注释了tf的发布（可能造成tf树紊乱），如果这个库在使用gazebo9时编译有问题，请自行修改。另外检查是否还有别的节点崩溃，正常情况都能启动，关机重启多试几次看看。