Comments (4)
你好,我在kinetic下测试时通过的,这几天我会抽空测试一下melodic,看报错应该是costmap一些东西有不一样。
from clean-robot-turtlebot3.
您好,我在ros-melodic上测试,的确不行,原因应该是在clean_robot这个功能包里,PathPlanningNode.cpp里面:
/costmap_2d::Costmap2DROS lcr("cleaning_costmap", tf);
以及CleaningPathPlanner.cpp:402:55: error: no matching function for call to ‘costmap_2d::Costmap2DROS::getRobotPose(tf::Stampedtf::Transform&)’
猜测是movebase里面costmap_2d的版本问题,我之前测试在kinetic是ok的。然而我这两天看了好久,没发现是哪里的问题。
from clean-robot-turtlebot3.
我刚刚修复了一下 并且通过了测试,的确是由于costmap版本的问题,melodic中tf升级为了tf2。两个ros版本中的api不一致。
具体修改为
Cleaningpathplanner.h
中 91行 initPose_类型改为
geometry_msgs::PoseStamped initPose_;
Cleaningpathplanner.cpp
中 410 411行 获取原点坐标改为
double wx = initPose_.pose.position.x; //获取原点的x坐标
double wy = initPose_.pose.position.y;
PathPlanningNode.cpp
中18行改为
tf2_ros::Buffer tf;
tf2_ros::TransformListener tf2_listener(tf); //多增加了一行
from clean-robot-turtlebot3.
melodic分支代码已经更新 https://github.com/mywisdomfly/Clean-robot-turtlebot3/tree/melodic-devel
from clean-robot-turtlebot3.
Related Issues (14)
- how to use explore_costmap.launch HOT 1
- 大型地图下清扫路径生成失败的问题 HOT 2
- 关于A*算法 HOT 1
- Local Costmap Warning
- 如何让路径变得更加稀疏一些 HOT 3
- cartographer不能主动建图 HOT 1
- 全路径规划到达起点后没有下一目标点 HOT 13
- next_goal發送目標點只有執行一次 HOT 4
- 運用turtlebot3 burger運行在實體機器人上
- 启动之后机器人一直不动 HOT 7
- How is the cleared area painted? HOT 4
- error while running the cleaning simulation. HOT 1
- 18.04 + opencv4.0,可以规划出全局路径,但是机器人只在原地旋转,然后停止。提示两个warning。 HOT 1
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from clean-robot-turtlebot3.