charon

when robot navigates close to wall or obstacle, planner publish large amout of teb_poses

3

I upload the [video](https://www.youtube.com/watch?v=ETORdzBcT0w), this rarely happens, I found the global path changed in the end, is that the reason ?

each one of them are different, no time synchronization ? ``` R 8.46642 0.0287602 -3.04035 1477010443399637 8.6 0.25 -3.00029 0 L 8.44818 0.251553 1477010443449633 8.45 0.25 -3.00027 0 R 8.57101...

smoothing path is not smooth enough

1

``` points_per_unit: 25 skip_points: 0 use_end_conditions: True use_middle_conditions: False path_poses: - { x: 0.0, y: 0.0, yaw: deg(135) } - { x: 1.0, y: 0.8415, yaw: deg(-180) } - {...

如果你已经装了很新的cartographer，千万别用这个仓库的cartographer版本，否则会造成大麻烦

1

这个仓库只有cartographer_ros，缺cartographer，用最新版的cartographer会造成proto版本冲突，如果用旧版本又有abseil版本冲突，我装了这个版本对应的abseil，结果导致我自己的cartographer不能用了。 最好还是设法移植到最新的cartographer上 最后把我的rviz搞得都运行不了了，如果非要用，最好在虚拟机上用吧

compile and install g2o with OpenMP, but build my program with error undefined reference to symbol 'omp_set_lock@@OMP_3.0'

2

``` /usr/bin/ld: CMakeFiles/ls_slam_g2o.dir/src/main.cpp.o: undefined reference to symbol 'omp_set_lock@@OMP_3.0' //usr/lib/x86_64-linux-gnu/libgomp.so.1: error adding symbols: DSO missing from command line collect2: error: ld returned 1 exit status ``` `void lock() { omp_set_lock(&_lock); }`...

计算minimum snap的耗时很久，正常吗？

2

Time in A start is 9.6ms, path cost 6.66m Time in Minimum Snap is 26079ms 如果A星用时几毫秒，minimum snap用时一般几秒，甚至十几秒

关于位置约束的问题

2

源码里只处理了6个点，我输入自己的数据，要么报错，要么结果是0. 后来发现问题在位置约束，矩阵和上下限向量的索引没问题？为什么`position_constraint_num`一直没有用到？

The function is for bounding \c var to the interval `-a < var < a ` , but the code is ``` if (var < -a+epsilon) { return (-var -...

看了视频的演示移动方法，录了几次bag，一直出现3种失败情况

1

1. terminate called after throwing an instance of 'std::out_of_range'，程序退出 2. Valid Calibra Data too little 3. 偶尔几次不出现以上两种情况，计算初值阶段出现 `system unobservable`