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ego-planner仿真环境下运行,出现节点相关问题 #85

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Zheng-jia-shuo opened this issue Jul 14, 2023 · 2 comments
Open

ego-planner仿真环境下运行,出现节点相关问题 #85

Zheng-jia-shuo opened this issue Jul 14, 2023 · 2 comments

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@Zheng-jia-shuo
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本人研一,学艺不精,希望作者大大能给予及时有效的回复,感激不尽!
在XTDrone仿真下,运行vins-fusion提供位姿信息,再运行
~/XTDrone/motion_planning/3d$ python ego_transfer.py iris 0
roslaunch ego_planner single_uav.launch
报错
hit: 0.619039 miss: -0.619039 min log: -1.99243 max: 2.19722 thresh log: 1.38629 [ INFO] [1689297777.100528704, 1937.109000000]: Wait for 1 second. [FSM]: from INIT to WAIT_TARGET [ WARN] [1689297778.055564598, 1938.029000000]: [Traj server]: ready. [iris_0_ego_planner_node-3] process has died [pid 7189, exit code -11, cmd /home/shr/catkin_ws_ego/devel/lib/ego_planner/ego_planner_node ~odom_world:=/vins_estimator/odometry ~planning/bspline:=/xtdrone/iris_0/planning/bspline ~planning/data_display:=/xtdrone/iris_0/planning/data_display ~planning/broadcast_bspline_from_planner:=/broadcast_bspline ~planning/broadcast_bspline_to_planner:=/broadcast_bspline ~grid_map/odom:=/xtdrone/iris_0/vins_estimator/odometry ~grid_map/cloud:=/iris_0/pcl_render_node/points ~grid_map/pose:=/iris_0/camera_pose ~grid_map/depth:=/iris_0/realsense/depth_camera/depth/image_raw __name:=iris_0_ego_planner_node __log:=/home/shr/.ros/log/aa2e4712-21e4-11ee-8edc-f0d415624305/iris_0_ego_planner_node-3.log]. log file: /home/shr/.ros/log/aa2e4712-21e4-11ee-8edc-f0d415624305/iris_0_ego_planner_node-3*.log
上述错误已有开发者反馈过,目前没有找到可行的解决方案。我的问题如下:
1.终端输出中,iris_0_ego_planner_node-3.log这个日志文件不存在,寻找问题过程中发现,运行ego节点前进行的ego-transfer脚本(将/mavros/vision_pose/pose话题转化为/camera_pose)的日志文件中显示:
[rospy.internal][INFO] 2023-07-14 09:22:57,302: topic[/iris_0/camera_pose] adding connection to [/iris_0_ego_planner_node], count 0 [rospy.internal][INFO] 2023-07-14 09:22:58,035: topic[/iris_0/camera_pose] removing connection to /iris_0_ego_planner_node
话题转化节点与ego主节点间的通信,在连接后立刻remove,想问作者有无类似经历,可能是什么原因导致?
2.报错后运行rqt_gragh,节点图显示如下
issue
左上和右下角的两个节点间应该存在通信,并且rostopic也可以查询到:
`shr@Legion-R7000P:~$ rostopic info /iris_0/camera_pose
Type: geometry_msgs/PoseStamped

Publishers:

Subscribers:

  • /iris_0_ego_planner_node (http://Legion-R7000P:36781/)`
    rostopic和rqt_gragh显示矛盾,又是什么原因导致的?不知作者是否遇到过类似情况。
    3.以上两个问题出现在我的笔记本电脑上,配置大概为锐龙R7-6800H,RTX3050,16G内存,同样的环境实验室的另一台台式机则不会报同样的错误,但由于我个人学的不精,遇到其它问题:ego-planner节点运行后,是否有一个初始化原点或回归原点的步骤?在XTDrone仿真环境下,无人机初始位置不在(0,0,0),此时运行ego后,无人机会快速回到(0,0,0)附近,然后按waypoints执行相应程序。但当我预先键盘控制无人机到达(0,0,0)附近后,启动ego,无人机仍然会快速移动到一个位置,这个位置相对于(0,0,0),等于(0,0,0)相对于XTDrone预设的无人机初始位置,并且这个快速移动过程中的速度,明显超出预设的max_vel,请问我应该到哪里去深入了解问题?
@bigsuperZZZX
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  1. rostopic和rqt_gragh显示矛盾是因为你rqt_graph左上角选择了“nodes only”,此时只保证节点显示是完整的,topic显示会有遗漏。
  2. ego-planner节点运行后,是否有一个初始化原点或回归原点的步骤?
    答:没有初始化原点步骤,当前仓库的初始化原点功能也是仿真器来提供的。
    XTdrone应该是改了些东西,但我并不知道他们改了什么会导致消息断连。

@wdczz
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wdczz commented Jul 29, 2023

I also have the same problem with XTdrone. TUT

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