cooneo / neor_mini Goto Github PK
View Code? Open in Web Editor NEWROS-based Ackerman-like unmanned car.
ROS-based Ackerman-like unmanned car.
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
如题
The robot doesn't move when use the robot steering tool?
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
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
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.
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.
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
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)
[ERROR] [1650089385.266396, 7264.469000]: bad callback: <bound method LineFollower.camera_callback of <__main__.LineFollower object at 0xffff9eb0d190>>
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "/home/parallels/neor_mini/mini_sim18_ws/src/neor_mini_linetrack/scripts/line_follower_object.py", line 32, in camera_callback
crop_img = cv_image[(height)/4 + descentre:(height)/4 + (descentre+rows_to_watch)][1:width]
TypeError: slice indices must be integers or None or have an __index__ method
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?
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