cooneo / neor_mini Goto Github PK

没有发速度，但是小车会自己缓慢移动，请问这个该怎么解决

Cannot locate rosdep definition for [gtsam]

运行的时候出现这个问题，但是也能正常制图，请问可能是什么原因呢？

gazebo not show neor_mini model

roslaunch steer_mini_gazebo steer_mini_sim.launch

setting /run_id to afe08c82-d317-11ec-ad06-000c2929bf11
process[rosout-1]: started with pid [25292]
started core service [/rosout]
process[gazebo-2]: started with pid [25295]
process[gazebo_gui-3]: started with pid [25299]
process[controller_spawner-4]: started with pid [25305]
process[robot_state_publisher-5]: started with pid [25306]
process[rqt_robot_steering-6]: started with pid [25307]
process[spawn_vehicle-7]: started with pid [25308]
[ WARN] [1652485924.558522732]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[INFO] [1652485925.323968, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[gazebo-2] process has died [pid 25295, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/ad/Desktop/Image/neor_mini/mini_sim18_ws/src/neor_mini/worlds/cooneo_office.world __name:=gazebo __log:=/home/ad/.ros/log/afe08c82-d317-11ec-ad06-000c2929bf11/gazebo-2.log].
log file: /home/ad/.ros/log/afe08c82-d317-11ec-ad06-000c2929bf11/gazebo-2*.log
[ INFO] [1652485925.644835579]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1652485925.646002494]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1652485926.397079, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1652485926.404137, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[WARN] [1652485955.469853, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-4] process has finished cleanly
log file: /home/ad/.ros/log/afe08c82-d317-11ec-ad06-000c2929bf11/controller_spawner-4*.log

如题

When i launch the steer_mini_sim commend like
roslaunch steer_mini_gazebo steer_mini_sim_sensors.launch
or
roslaunch neor_mini display_gazebo_sensors.launch
or whatever launch file include 'gazebo'. It shows the error like
[FATAL] [1677727146.536990379, 60.905000000]: Failed to create robot simulation interface loader: Could not find library corresponding to plugin steer_bot_hardware_gazebo/SteerBotHardwareGazebo. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
How to fix it? Thanks

The robot doesn't move when use the robot steering tool?

Thanks for your share , It's so greatful.
And I have trouble with chapter 8 when I run "roslaunch lio_sam run_neor_mini.launch". Rviz can't show the 3D map , and report error: for frame [base_link]: Fixed Frame[map] does not exist

CMake Error at LIO-SAM/CMakeLists.txt:27 (find_package):Find GTSAM.cmake

solved by install gtsam

#open a Terminal.
wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install

# copy the libmetis.so library into /usr/lib/ folder.   !!!!!!!
sudo cp /usr/local/lib/libmetis.so /usr/lib

and install the dependence of the lio_sam，follow as below:

sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt update
sudo apt install libgtsam-dev libgtsam-unstable-dev

if using Ubuntu 20.04 and ROS Noetic, after Install GTSAM following readme and catkin_make error, need to :

Configure the utility.h to use #include <opencv2/opencv.hpp> instead of #include <opencv/cv.h>
Configure CMakeLists.txt to use set(CMAKE_CXX_FLAGS "-std=c++14") instead of set(CMAKE_CXX_FLAGS "-std=c++11")
Move #include <opencv2/opencv.hpp> after the pcl headers

and if you have error:

neor_mini/mini_sim18_ws/src/LeGO-LOAM/LeGO-LOAM/include/utility.h:11:10: fatal error: cloud_msgs/cloud_info.h: No such file or directory
   11 | #include "cloud_msgs/cloud_info.h"

just add option -DCATKIN_WHITELIST_PACKAGES="cloud_msgs"

catkin_make -DCATKIN_WHITELIST_PACKAGES="cloud_msgs"

after that, you can "catkin_make" as usual.

I can't run the velodyne lidar simulation(chapter 3) in gazebo 11 (there is no laser in simulation ) , what should I do ?

In chapter 3, step 5, when roslaunch lego_loam run.launch

process[rviz-2]: started with pid [888100]
process[camera_init_to_map-3]: started with pid [888104]
process[base_link_to_camera-4]: started with pid [888106]
ERROR: cannot launch node of type [lego_loam/imageProjection]: Cannot locate node of type [imageProjection] in package [lego_loam]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [lego_loam/featureAssociation]: Cannot locate node of type [featureAssociation] in package [lego_loam]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [lego_loam/mapOptmization]: Cannot locate node of type [mapOptmization] in package [lego_loam]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [lego_loam/transformFusion]: Cannot locate node of type [transformFusion] in package [lego_loam]. Make sure file exists in package path and permission is set to executable (chmod +x)

how can I fix this problem

sudo add-apt-repository ppa:borglab/gtsam-release-4.0
Cannot add PPA: 'ppa:~borglab/ubuntu/gtsam-release-4.0'.
ERROR: '~borglab' user or team does not exist.

roslaunch mini_gmapping gmapping_steer_mini_sensors.launch

rviz no map no image