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6-robot / wpr_simulation

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运行程序报以下错误，麻烦帮忙看下 #6

Closed diaokaitian closed 3 years ago

diaokaitian commented 3 years ago

![Uploading 微信截图_20210812225343.png…]() [ERROR] [1628779188.296601720]: Map_server could not open /home/passoni/catkin_ws/src/wpr_simulation/maps/map.yaml. process[robot_state_publisher-23]: started with pid [4387] process[joint_state_publisher-24]: started with pid [4394] [map_server-20] process has died [pid 4376, exit code 255, cmd /opt/ros/melodic/lib/map_server/map_server /home/passoni/catkin_ws/src/wpr_simulation/maps/map.yaml name:=map_server __log:=/home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/map_server-20.log]. log file: /home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/map_server-20*.log process[rviz-25]: started with pid [4399] [ INFO] [1628779190.178677709]: Requesting the map... [ WARN] [1628779190.241650328]: Request for map failed; trying again... [ INFO] [1628779199.670291687]: Finished loading Gazebo ROS API Plugin. [ INFO] [1628779199.735752950]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1628779200.199552313]: Finished loading Gazebo ROS API Plugin. [ INFO] [1628779200.241250862]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1628779211.193386359]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ERROR] [1628779212.004623, 266.729000]: Spawn service failed. Exiting. [ WARN] [1628779212.397909120, 266.730000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 266.73 timeout was 0.1. [bookshelft-7] process has died [pid 4361, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/passoni/catkin_ws/src/wpr_simulation/models/bookshelft.model -x 2.0 -y -0.55 -z 0 -Y -1.57 -urdf -model bookshelft name:=bookshelft __log:=/home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/bookshelft-7.log]. log file: /home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/bookshelft-7.log [tea_table-6] process has finished cleanly log file: /home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/tea_table-6.log [Err] [REST.cc:205] Error in REST request

diaokaitian commented 3 years ago

微信截图_20210812225343

zhangwanjie commented 3 years ago

从报错信息来看，是Map_server没有找到地图文件导致的问题。我猜想是没有经过SLAM建图直接运行导航launch是吧:) 可以搜一下微信公众号“六部工坊”，在历史文章里有这个系列的教程。先在SLAM那个实验里创建好环境地图，再用那个建好的地图进行导航，就不会出现这个问题了。

diaokaitian commented 3 years ago

好的，看到文章了，问题已解决，非常感谢