zju-fast-lab / elastic-tracker Goto Github PK

Is it possible to complete the emulation if the computer does not have a GPU. I tried set(ENABLE_CUDA false) in the CMakeLists file and found that the drone does not track the target during the simulation.

The attached diagram is what the command line window shows when you type "roslaunch planning simulation1.launch"

Hello, when I run rviz_sim.launch, the quads in rviz cannot detect the enviroment and it shows

QObject::connect: Cannot queue arguments of type 'QVector'
(Make sure 'QVector' is registered using qRegisterMetaType().)

Is this a reminder that I need to install the QT library? If so, coule you please tell me your QT version?
Thanks!

i set ENABLE_CUDA as false and the drone0 won't track the target in simulation1.launch
i've checked the topic and found that the drone0/grimap has not publisher
could you please offer some suggestions?

在Elastic-tracker中的运动预测模块是通过生成运动基元然后从中取加速度最小的，想问问这样预测的原因是什么，我的理解是这里的运动预测方法本质还是使用了恒速的模型，使用运动基元只是将预测这个问题给离散化。还有就是之前tracker系列的论文中预测这一步一般都是通过一个优化问题来求解，本文不用是因为使用优化的方法计算负载太大了吗？
希望能得到解答，感谢！

ROS_MASTER_URI=http://10.42.0.105:11311

process[manager-1]: started with pid [13840]
process[mapping-2]: started with pid [13841]
/opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal
if resource_name in files:
process[mapping_vis-3]: started with pid [13843]
process[odom_visualization-4]: started with pid [13848]
[ INFO] [1672821488.480236471]: Loading nodelet /mapping of type mapping/Nodelet to manager manager with the following remappings:
process[target_ekf_node-5]: started with pid [13857]
[ INFO] [1672821488.501149601]: /mapping/depth -> /camera_d435/depth/image_rect_raw
[ INFO] [1672821488.501301219]: /mapping/gridmap -> /gridmap
[ INFO] [1672821488.501382691]: /mapping/gridmap_inflate -> /gridmap_inflate
[ INFO] [1672821488.501499876]: /mapping/odom -> /mavros/local_position/odom
process[target/odom_visualization-6]: started with pid [13863]
[ INFO] [1672821488.537846500]: waitForService: Service [/manager/load_nodelet] could not connect to host [10.42.0.105:36513], waiting...
[ INFO] [1672821488.634908879]: Initializing nodelet with 16 worker threads.
[ INFO] [1672821488.680133989]: waitForService: Service [/manager/load_nodelet] is now available.
[ WARN] [1672821488.916132528]: too long time no update!
/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/nx/project/catkin_ws/devel/lib//libmapping_nodelet.so: undefined symbol: _ZN2cv3MatC1Ev
[FATAL] [1672821488.924084861]: Failed to load nodelet '/mappingof typemapping/Nodeletto managermanager'
[ WARN] [1672821488.966018610]: too long time no update!
[manager-1] process has died [pid 13840, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=manager __log:=/home/nx/.ros/log/089b4e74-8c00-11ed-8b28-02428f014efe/manager-1.log].
log file: /home/nx/.ros/log/089b4e74-8c00-11ed-8b28-02428f014efe/manager-1*.log
[ WARN] [1672821489.016501179]: too long time no update!
[ WARN] [1672821489.024737706]: ekf reset!
[mapping-2] process has died [pid 13841, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load mapping/Nodelet manager ~odom:=/mavros/local_position/odom ~depth:=/camera_d435/depth/image_rect_raw ~gridmap:=gridmap ~gridmap_inflate:=gridmap_inflate __name:=mapping __log:=/home/nx/.ros/log/089b4e74-8c00-11ed-8b28-02428f014efe/mapping-2.log].
log file: /home/nx/.ros/log/089b4e74-8c00-11ed-8b28-02428f014efe/mapping-2*.log

The second uav could not move,how to slove?

$source devel/setup.zsh
报错：
bash: cd: -q: invalid option
cd: usage: cd [-L|[-P [-e]] [-@]] [dir]
emulate: command not found

Please ask whether the error is due to the eigen version. What version of eigen is used for the code?

Hi,
Following the steps in 1-simulation-of-aerial-tracking, the target can move by setting Nav goals, but the tracker does not move to track the target. The same issue can be seen from another user's video here.

Could you please explain a little bit the following function "enumerateVs()"? This part puzzled me a long time, I didnt understand the exact meaning of the Matrix A? RowVector b represent the distance between the inner point and the each hyperplane of polyhedron, right? hPoly.topRows<3> is the outter normal of each facet, so what you can get by dividing the b?

thank you

解决办法是：因为cuda版本是12.2，将uav_simulator/src中的CMakeList.txt中的-gencode arch=compute_61,code=sm_61;改为-gencode arch=compute_80,code=sm_80;

按照步骤部署，在triger 触发后并不能跟踪飞行

hello When I input the instructions in the document, the target can fly, but the drone remains stationary. What is the reason