XTDrone icon indicating copy to clipboard operation
XTDrone copied to clipboard

Published 20 hours ago • verified publisher icon robin-shaun

三维运动规划

Open jkxdl opened this issue 2 years ago • 4 comments

我在运行"rviz -d ego_rviz.rviz"是rviz没有出现点云图 2022-05-10 13-04-29 的屏幕截图 这是运行后的rviz 有解决办法吗

jkxdl avatar May 10 '22 05:05 jkxdl

我也遇到了这样的问题

winnnnnnd avatar Mar 16 '23 06:03 winnnnnnd

同样的问题但我的终端有报错 roslaunch ego_planner single_uav.launch ... logging to /home/kd/.ros/log/dbcd4c9a-d68b-11ed-96c8-d4548bbd70f4/roslaunch-kd-Dell-G15-5511-18187.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://kd-Dell-G15-5511:44667/

SUMMARY

PARAMETERS

  • /iris_0_ego_planner_node/bspline/limit_acc: 2.0
  • /iris_0_ego_planner_node/bspline/limit_ratio: 1.1
  • /iris_0_ego_planner_node/bspline/limit_vel: 1.0
  • /iris_0_ego_planner_node/fsm/emergency_time: 1.0
  • /iris_0_ego_planner_node/fsm/fail_safe: True
  • /iris_0_ego_planner_node/fsm/flight_type: 2
  • /iris_0_ego_planner_node/fsm/planning_horizen_time: 3.0
  • /iris_0_ego_planner_node/fsm/planning_horizon: 7.5
  • /iris_0_ego_planner_node/fsm/realworld_experiment: False
  • /iris_0_ego_planner_node/fsm/thresh_no_replan_meter: 1.0
  • /iris_0_ego_planner_node/fsm/thresh_replan_time: 1.0
  • /iris_0_ego_planner_node/fsm/waypoint0_x: 0.0
  • /iris_0_ego_planner_node/fsm/waypoint0_y: -20.0
  • /iris_0_ego_planner_node/fsm/waypoint0_z: 1.0
  • /iris_0_ego_planner_node/fsm/waypoint1_x: 6.0
  • /iris_0_ego_planner_node/fsm/waypoint1_y: 0.0
  • /iris_0_ego_planner_node/fsm/waypoint1_z: 1.5
  • /iris_0_ego_planner_node/fsm/waypoint2_x: 8.0
  • /iris_0_ego_planner_node/fsm/waypoint2_y: -8.0
  • /iris_0_ego_planner_node/fsm/waypoint2_z: 1.5
  • /iris_0_ego_planner_node/fsm/waypoint3_x: 0.0
  • /iris_0_ego_planner_node/fsm/waypoint3_y: -15.0
  • /iris_0_ego_planner_node/fsm/waypoint3_z: 1.0
  • /iris_0_ego_planner_node/fsm/waypoint4_x: -15.0
  • /iris_0_ego_planner_node/fsm/waypoint4_y: 0.0
  • /iris_0_ego_planner_node/fsm/waypoint4_z: 1.0
  • /iris_0_ego_planner_node/fsm/waypoint_num: 1
  • /iris_0_ego_planner_node/grid_map/cx: 320.5
  • /iris_0_ego_planner_node/grid_map/cy: 240.5
  • /iris_0_ego_planner_node/grid_map/depth_filter_margin: 2
  • /iris_0_ego_planner_node/grid_map/depth_filter_maxdist: 5.0
  • /iris_0_ego_planner_node/grid_map/depth_filter_mindist: 0.5
  • /iris_0_ego_planner_node/grid_map/depth_filter_tolerance: 0.15
  • /iris_0_ego_planner_node/grid_map/frame_id: world
  • /iris_0_ego_planner_node/grid_map/fx: 554.254691191
  • /iris_0_ego_planner_node/grid_map/fy: 554.254691191
  • /iris_0_ego_planner_node/grid_map/ground_height: -1
  • /iris_0_ego_planner_node/grid_map/k_depth_scaling_factor: 1000.0
  • /iris_0_ego_planner_node/grid_map/local_map_margin: 10
  • /iris_0_ego_planner_node/grid_map/local_update_range_x: 5.5
  • /iris_0_ego_planner_node/grid_map/local_update_range_y: 5.5
  • /iris_0_ego_planner_node/grid_map/local_update_range_z: 4.5
  • /iris_0_ego_planner_node/grid_map/map_size_x: 100
  • /iris_0_ego_planner_node/grid_map/map_size_y: 100
  • /iris_0_ego_planner_node/grid_map/map_size_z: 5
  • /iris_0_ego_planner_node/grid_map/max_ray_length: 4.5
  • /iris_0_ego_planner_node/grid_map/min_ray_length: 0.1
  • /iris_0_ego_planner_node/grid_map/obstacles_inflation: 0.2
  • /iris_0_ego_planner_node/grid_map/p_hit: 0.65
  • /iris_0_ego_planner_node/grid_map/p_max: 0.9
  • /iris_0_ego_planner_node/grid_map/p_min: 0.12
  • /iris_0_ego_planner_node/grid_map/p_miss: 0.35
  • /iris_0_ego_planner_node/grid_map/p_occ: 0.8
  • /iris_0_ego_planner_node/grid_map/pose_type: 1
  • /iris_0_ego_planner_node/grid_map/resolution: 0.1
  • /iris_0_ego_planner_node/grid_map/show_occ_time: False
  • /iris_0_ego_planner_node/grid_map/skip_pixel: 2
  • /iris_0_ego_planner_node/grid_map/use_depth_filter: True
  • /iris_0_ego_planner_node/grid_map/virtual_ceil_height: 3
  • /iris_0_ego_planner_node/grid_map/visualization_truncate_height: 2
  • /iris_0_ego_planner_node/manager/control_points_distance: 0.4
  • /iris_0_ego_planner_node/manager/drone_id: 0
  • /iris_0_ego_planner_node/manager/feasibility_tolerance: 0.05
  • /iris_0_ego_planner_node/manager/max_acc: 2.0
  • /iris_0_ego_planner_node/manager/max_jerk: 4.0
  • /iris_0_ego_planner_node/manager/max_vel: 1.0
  • /iris_0_ego_planner_node/manager/planning_horizon: 7.5
  • /iris_0_ego_planner_node/manager/use_distinctive_trajs: True
  • /iris_0_ego_planner_node/optimization/dist0: 0.5
  • /iris_0_ego_planner_node/optimization/lambda_collision: 0.5
  • /iris_0_ego_planner_node/optimization/lambda_feasibility: 0.1
  • /iris_0_ego_planner_node/optimization/lambda_fitness: 1.0
  • /iris_0_ego_planner_node/optimization/lambda_smooth: 1.0
  • /iris_0_ego_planner_node/optimization/max_acc: 2.0
  • /iris_0_ego_planner_node/optimization/max_vel: 1.0
  • /iris_0_ego_planner_node/optimization/swarm_clearance: 0.5
  • /iris_0_ego_planner_node/prediction/lambda: 1.0
  • /iris_0_ego_planner_node/prediction/obj_num: 1
  • /iris_0_ego_planner_node/prediction/predict_rate: 1.0
  • /iris_0_traj_server/traj_server/time_forward: 1.0
  • /rosdistro: melodic
  • /rosversion: 1.14.13

NODES / iris_0_ego_planner_node (ego_planner/ego_planner_node) iris_0_map_to_world (tf/static_transform_publisher) iris_0_traj_server (ego_planner/traj_server) iris_0_world_to_ground_plane (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[iris_0_map_to_world-1]: started with pid [18217] process[iris_0_world_to_ground_plane-2]: started with pid [18218] process[iris_0_ego_planner_node-3]: started with pid [18219] process[iris_0_traj_server-4]: started with pid [18224] hit: 0.619039 miss: -0.619039 min log: -1.99243 max: 2.19722 thresh log: 1.38629 [ INFO] [1681013379.960634810]: Wait for 1 second. [FSM]: from INIT to WAIT_TARGET [iris_0_ego_planner_node-3] process has died [pid 18219, exit code -11, cmd /home/kd/catkin_ws/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/kd/.ros/log/dbcd4c9a-d68b-11ed-96c8-d4548bbd70f4/iris_0_ego_planner_node-3.log]. log file: /home/kd/.ros/log/dbcd4c9a-d68b-11ed-96c8-d4548bbd70f4/iris_0_ego_planner_node-3*.log [ WARN] [1681013380.988374408, 2024.461000000]: [Traj server]: ready.

uestyhox1 avatar Apr 09 '23 04:04 uestyhox1

我解决了，是通过少写下面这一步： cd ~/XTDrone/motion_planning/3d python ego_transfer.py iris 0 不晓得原理是为啥

uestyhox1 avatar Apr 09 '23 10:04 uestyhox1

三维运动规划，无报错但rviz标注出来方向，无人机没反应 图片

uestyhox1 avatar May 06 '23 03:05 uestyhox1