Zrainbow

Hi, i met the same error, do you find the solution? Looking forward to your reply.

I found the reason. You just need to copy the Actuators.pb.cc and Actuators.pb.h to rotors_gazebo_plugins, and add it to your cmakelist.txt where you generate the librotors_gazebo_multirotor_base_plugin.so. add_library(rotors_gazebo_multirotor_base_plugin SHARED src/gazebo_multirotor_base_plugin.cpp src/Actuators.pb.cc)

你报错的原因是xml文件中有cloud_topic，所以你需要在launch中需要定义。你可以尝试不注释，空值就行了。

The crash seems not caused by the [kino replan], the message you mentioned "open set is empty" is normal, the kino replan need to init in first search, it success...

> 首先你们需要确认topic输入是否正确；其次确认topic里是否有数据；另外，要同时设置camera_pos的topic > > 请问你的问题解决了吗？ 我现在跑fast planner 实际地图一直出不来 > > 你的问题解决了吗？我也无法出实时地图？是Opencv的问题吗？ 首先你们需要确认topic输入是否正确；其次确认topic里是否有数据；另外，要同时设置camera_pos的topic