你好，我在noetic上跑通了代码，roslaunch后没有显示小车的模型，相机的topic也没有数据，但是没有报错
scottymax opened this issue · comments
log如下：
roslaunch avp_slam_plus slamRGB.launch
... logging to /root/.ros/log/4fbde08a-2433-11ed-b991-d85ed32f568d/roslaunch-shenjiacheng-Z590-GAMING-X-1622957.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://shenjiacheng-Z590-GAMING-X:46725/
SUMMARY
PARAMETERS
- /IcpEuclideanFitnessEpsilon: 0.001
- /IcpMaxCorrespondenceDistance: 20
- /IcpMaximumIterations: 100
- /IcpTransformationEpsilon: 1e-10
- /InvalidColorThresh: 60
- /K: [337.208441096804...
- /R0: [0, 1.0, 0, 0.0, ...
- /T0: [0, 0.56, 0.0]
- /cameraRealiableDis: 8
- /closePointThresh: 0.1
- /farPointThresh: 20
- /gazebo/enable_ros_network: True
- /icpFitnessScoreThresh: 0.3
- /imageColIncrease: 4
- /imageRowIncrease: 2
- /mapSave: True
- /mapSaveLocation: /mnt/sjc_workspac...
- /ndtFitnessScoreThresh: 0.3
- /ndtResolution: 1.0
- /ndtTransformationEpsilon: 0.01
- /odomKeyFramDisThresh: 1.0
- /pointCloudLeafSize: 0.1
- /robot_description: <?xml version="1....
- /robot_state_publisher/publish_frequency: 50.0
- /rosdistro: noetic
- /rosversion: 1.15.14
- /rotateDeg1: -1.0471975511965976
- /rotateDeg2: -2.0943951023931953
- /rotateDeg3: -3.141592653589793
- /rotateDeg4: 2.0943951023931953
- /rotateDeg5: 1.0471975511965976
- /skyColor: 178
- /useICP: False
- /useNDT: True
- /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
mapping (avp_slam_plus/mapping)
pointCloudFromRGB (avp_slam_plus/pointCloudFromRGB)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
urdf_spawner (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [1622974]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 4fbde08a-2433-11ed-b991-d85ed32f568d
process[rosout-1]: started with pid [1622984]
started core service [/rosout]
process[gazebo-2]: started with pid [1622991]
process[gazebo_gui-3]: started with pid [1622995]
process[joint_state_publisher-4]: started with pid [1623000]
process[robot_state_publisher-5]: started with pid [1623002]
process[urdf_spawner-6]: started with pid [1623003]
process[rviz-7]: started with pid [1623004]
process[pointCloudFromRGB-8]: started with pid [1623005]
process[mapping-9]: started with pid [1623011]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[INFO] [1661403832.860590, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1661403832.867019, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1661403832.923459101]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1661403832.924257138]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1661403832.991150598]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1661403832.992010511]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1661403834.047507709, 1825.804000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1661403834.072742, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1661403834.110467642, 1825.865000000]: Physics dynamic reconfigure ready.
[INFO] [1661403834.239540, 1825.971000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1661403834.255844258, 1825.971000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1661403834.255958825, 1825.971000000]: DiffDrive(ns = //): = Debug
[ INFO] [1661403834.257063601, 1825.971000000]: DiffDrive(ns = //): <tf_prefix> =
[DEBUG] [1661403834.257130804, 1825.971000000]: DiffDrive(ns = //): = cmd_vel
[DEBUG] [1661403834.257150965, 1825.971000000]: DiffDrive(ns = //): = odom
[DEBUG] [1661403834.257164804, 1825.971000000]: DiffDrive(ns = //): = odom
[DEBUG] [1661403834.257178969, 1825.971000000]: DiffDrive(ns = //): = base_footprint
[DEBUG] [1661403834.257223146, 1825.971000000]: DiffDrive(ns = //): = true
[ WARN] [1661403834.257243125, 1825.971000000]: DiffDrive(ns = //): missing default is true
[DEBUG] [1661403834.257265865, 1825.971000000]: DiffDrive(ns = //): = true
[DEBUG] [1661403834.257326302, 1825.971000000]: DiffDrive(ns = //): = 0.59999999999999998
[DEBUG] [1661403834.257349700, 1825.971000000]: DiffDrive(ns = //): = 0.12
[DEBUG] [1661403834.257368468, 1825.971000000]: DiffDrive(ns = //): = 1.8
[DEBUG] [1661403834.257386434, 1825.971000000]: DiffDrive(ns = //): = 30
[DEBUG] [1661403834.257402254, 1825.971000000]: DiffDrive(ns = //): = 100
[ WARN] [1661403834.257451387, 1825.971000000]: DiffDrive(ns = //): missing default is 1
[DEBUG] [1661403834.257488104, 1825.971000000]: DiffDrive(ns = //): = base_to_wheel_left_joint
[urdf_spawner-6] process has finished cleanly
log file: /root/.ros/log/4fbde08a-2433-11ed-b991-d85ed32f568d/urdf_spawner-6*.log
我和你情况一样，没有小车，但是有报错，我还没解决
系统升级了，我现在也在noetic上跑代码，但是catkin_make的时候报了很多错，请问楼主遇到过吗
[urdf_spawner-5] process has finished cleanly
log file: /.ros/log/d515c1d8-5423-11ed-b0c5-4d020f40fd42/urdf_spawner-5*.log
我也一样，rviz没有数据显示，没有小车模型，请问解决了吗
已经解决，需要更改urdf文件
@scottymax Did you solve this problem? Could you send me the urdf file?
@scottymax 要更改地方呢？