I tried to look for a solution and referred to this ros-answer also, but problem was not solved. I get following error: rviz: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreSceneManager.cpp:830: virtual Ogre::SceneNode* Ogre::SceneManager::createSceneNode(): Assertion `mSceneNodes.find(sn->getName()) = mSceneNodes.end()' failed. When i run the command: roslaunch iiwa_moveit demo.launch I also have also installed KUKA IIWA from this link. I tried to build MoveIt! by source installation through this link. 发布地图话题: $ rosrun map_server map_server map.I am using ROS-kinetic on Ubunutu 16.04. $ roslaunch mycar_slam gmapping_demo.launch New hack, glitchpeg' (X11 and macOS only). macOS: Screen saver settings work again on 10.14. macOS: Upgraded Sparkle (the 'Check for Updates' library). 在gmapping中配置move_base的效果就是,可以进行路径规划,使用2D Nav goal指定所要到达的目标。Īmcl 的配置文件:更改激光雷达话题名,和odom、base_link和map的框架名。对其他参数进行适当调节。 Linux: If the xscreensaver daemon is setuid, then we can implore the kernel's out-of-memory killer to pretty please not unlock the screen. #The area is always searched, so could be slow for big values Planner_window_y: 0.0 #Specifies the y size of an optional window to restrict the planner to, default 0.0ĭefault_tolerance: 0.0 #If the goal is in an obstacle, the planer will plan to the nearest point in the radius of default_tolerance, default 0.0 Planner_window_x: 0.0 #Specifies the x size of an optional window to restrict the planner to, default 0.0 #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work Visualize_potential: false #Publish potential for rviz as pointcloud2, not really helpful, default falseĪllow_unknown: true #Specifies whether or not to allow navfn to create plans that traverse unknown space, default true # local planner - default is trajectory rolloutīase_local_planner: "dwa_local_planner/DWAPlannerROS"īase_global_planner: "navfn/NavfnROS" #alternatives: global_planner/GlobalPlanner, carrot_planner/CarrotPlanner ![]() For full documentation of the parameters in this file, please see Move_base_params.yaml:对参数进行适当调节。 # Move base node parameters. ![]() # The velocity when robot is moving in a straight line distance from an obstacle at which costs are incurred for planning paths.ĭwa_local_planner_params.yaml:对参数进行适当调节。 DWAPlannerROS: ![]() #cost_scaling_factor and inflation_radius were now moved to the inflation_layer nsĬost_scaling_factor: 2.58 # exponential rate at which the obstacle cost drops off (default: 10) Track_unknown_space: true #true needed for disabling global path planning through unknown space Robot_radius: 0.25 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
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