Closed chanzw closed 3 years ago
Hello @chanzw, Thanks for interesting. Did you install the map_server? I guess it is the TF problem between map and odom.
Hello @chanzw, Thanks for interesting. Did you install the map_server? I guess it is the TF problem between map and odom.
I have installed it. But it still has the same error.
Please write your frame and load the map exactly .
Please write your frame and load the map exactly . OK! I try it.Thank you.
I can't solve it It always has a WARN
[ WARN] [1599573109.833110525, 98.097000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_link does not exist.. canTransform returned after 98.095 timeout was 0.1.
And the RobotModel Status is error
Hello, would you check the tf tree using 'rosrun rqt_tf_tree rqt_tf_tree' command on terminal? Because the tf structure has problem. And I wonder whether you has the robot model such as servingbot or not.
Hello, would you check the tf tree using 'rosrun rqt_tf_tree rqt_tf_tree' command on terminal? Because the tf structure has problem. And I wonder whether you has the robot model such as servingbot or not.
Yes, I have checked it already.But it shows like that.Is it right?
And the rviz like this
I has download the servingbot model,when I catkin_make it ,it shows a error about simple_speech,I don't think it is the main reason,so I have delete the include "#include <simple_speech/script.h>".
And I have a husky robot.
Hello. You need to publish odom frame and connect between odom and map frame.
Hello. You need to publish odom frame and connect between odom and map frame.
OK!Thank you very much.
Hello,I want to know the references for this NMPC,thanks!
Hello, I strongly referred to https://github.com/Hypha-ROS/hypharos_minicar. But it is based on Ackermann model
2020년 9월 9일 (수) 오후 4:49, chanzw notifications@github.com님이 작성:
Hello,I want to know the references for this NMPC,thanks!
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=============================================== Geonhee Lee Graduate student Department of Mechanical System Design Engineering Seoul National University of Science & Technology 232 Gongneung-ro, Nowon-gu https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g SEOUL, KOREA https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g (01811)
E-mail : gunhee6392@gmail.com
Homepage : https://geonhee-lee.github.io/geon.github.io/
GitHub: https://github.com/Geonhee-LEE
Tel(Cell phone): (+82)10-2888-2133
cost_cte, etheta, velocity: -nan, 0, 2000 cost of actuators: -nan cost of gap: -nan
This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit http://projects.coin-or.org/Ipopt
cppad-20180000.0 error from a known source: yq = f.Forward(q, xq): a zero order Taylor coefficient is nan. Corresponding independent variables vector was written to binary a file. vector_size = 158 file_name = /tmp/fileGwXM0y index = 0
Error detected by false result for if( CppAD::isnan( yq[ (q+1) index + 0 ] ) at line 231 in the file /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/core/forward.hpp nav_mpc: /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char, const char, const char): Assertion `false' failed. [nav_mpc-2] process has died [pid 16401, exit code -6, cmd /home/czw/husky_ws/devel/lib/mpc_ros/nav_mpc __name:=nav_mpc __log:=/home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2.log]. log file: /home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2*.log
I think that is associated with IpOpt lib problem. Did you install the IpOpt with right version?
2020년 9월 14일 (월) 오전 11:03, chanzw notifications@github.com님이 작성:
hello,When I set 2D Nav Goal,it will show that mpc_ref_path "Message contained invalid floating point values (nans or infs)" in rviz.AND in the terminal , it shows [ INFO] [1600048363.795110728, 1461.510000000]: Goal Received :goalCB! coeffs : -nan pow : 1 cte : -nan etheta: 0, atan2(gy,gx): -0.94423, temp_theta:-0.94423 x_err:2.11219, y_err:-2.82514
cost_cte, etheta, velocity: -nan, 0, 2000 cost of actuators: -nan cost of gap: -nan
This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit http://projects.coin-or.org/Ipopt
cppad-20180000.0 error from a known source: yq = f.Forward(q, xq): a zero order Taylor coefficient is nan. Corresponding independent variables vector was written to binary a file. vector_size = 158 file_name = /tmp/fileGwXM0y index = 0
Error detected by false result for if( CppAD::isnan( yq[ (q+1) index + 0 ] ) at line 231 in the file /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/core/forward.hpp nav_mpc: /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char, const char, const char): Assertion `false' failed. [nav_mpc-2] process has died [pid 16401, exit code -6, cmd /home/czw/husky_ws/devel/lib/mpc_ros/nav_mpc __name:=nav_mpc __log:=/home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2.log]. log file: /home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2*.log
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=============================================== Geonhee Lee Graduate student Department of Mechanical System Design Engineering Seoul National University of Science & Technology 232 Gongneung-ro, Nowon-gu https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g SEOUL, KOREA https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g (01811)
E-mail : gunhee6392@gmail.com
Homepage : https://geonhee-lee.github.io/geon.github.io/
GitHub: https://github.com/Geonhee-LEE
Tel(Cell phone): (+82)10-2888-2133
I think that is associated with IpOpt lib problem. Did you install the IpOpt with right version? 2020년 9월 14일 (월) 오전 11:03, chanzw notifications@github.com님이 작성: … hello,When I set 2D Nav Goal,it will show that mpc_ref_path "Message contained invalid floating point values (nans or infs)" in rviz.AND in the terminal , it shows [ INFO] [1600048363.795110728, 1461.510000000]: Goal Received :goalCB! coeffs : -nan pow : 1 cte : -nan etheta: 0, atan2(gy,gx): -0.94423, temp_theta:-0.94423 x_err:2.11219, y_err:-2.82514 cost_cte, etheta, velocity: -nan, 0, 2000 cost of actuators: -nan cost of gap: -nan ------------------------------ This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit http://projects.coin-or.org/Ipopt ------------------------------ cppad-20180000.0 error from a known source: yq = f.Forward(q, xq): a zero order Taylor coefficient is nan. Corresponding independent variables vector was written to binary a file. vector_size = 158 file_name = /tmp/fileGwXM0y index = 0 Error detected by false result for if( CppAD::isnan( yq[ (q+1) index + 0 ] ) at line 231 in the file /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/core/forward.hpp nav_mpc: /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char, const char, const char): Assertion `false' failed. [nav_mpc-2] process has died [pid 16401, exit code -6, cmd /home/czw/husky_ws/devel/lib/mpc_ros/nav_mpc __name:=nav_mpc __log:=/home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2.log]. log file: /home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2*.log — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#5 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/AC725Y6JPDBKCJ243ASNPMLSFV2YDANCNFSM4Q6GCCGQ . -- =============================================== Geonhee Lee Graduate student Department of Mechanical System Design Engineering Seoul National University of Science & Technology 232 Gongneung-ro, Nowon-gu https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g SEOUL, KOREA https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g (01811) E-mail : gunhee6392@gmail.com Homepage : https://geonhee-lee.github.io/geon.github.io/ GitHub: https://github.com/Geonhee-LEE Tel(Cell phone): (+82)10-2888-2133
I have installed the Ipopt 3.12.7
I think that is associated with IpOpt lib problem. Did you install the IpOpt with right version? 2020년 9월 14일 (월) 오전 11:03, chanzw notifications@github.com님이 작성: … hello,When I set 2D Nav Goal,it will show that mpc_ref_path "Message contained invalid floating point values (nans or infs)" in rviz.AND in the terminal , it shows [ INFO] [1600048363.795110728, 1461.510000000]: Goal Received :goalCB! coeffs : -nan pow : 1 cte : -nan etheta: 0, atan2(gy,gx): -0.94423, temp_theta:-0.94423 x_err:2.11219, y_err:-2.82514 cost_cte, etheta, velocity: -nan, 0, 2000 cost of actuators: -nan cost of gap: -nan ------------------------------ This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit http://projects.coin-or.org/Ipopt ------------------------------ cppad-20180000.0 error from a known source: yq = f.Forward(q, xq): a zero order Taylor coefficient is nan. Corresponding independent variables vector was written to binary a file. vector_size = 158 file_name = /tmp/fileGwXM0y index = 0 Error detected by false result for if( CppAD::isnan( yq[ (q+1) index + 0 ] ) at line 231 in the file /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/core/forward.hpp nav_mpc: /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char, const char, const char): Assertion `false' failed. [nav_mpc-2] process has died [pid 16401, exit code -6, cmd /home/czw/husky_ws/devel/lib/mpc_ros/nav_mpc __name:=nav_mpc __log:=/home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2.log]. log file: /home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2*.log — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#5 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/AC725Y6JPDBKCJ243ASNPMLSFV2YDANCNFSM4Q6GCCGQ . -- =============================================== Geonhee Lee Graduate student Department of Mechanical System Design Engineering Seoul National University of Science & Technology 232 Gongneung-ro, Nowon-gu https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g SEOUL, KOREA https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g (01811) E-mail : gunhee6392@gmail.com Homepage : https://geonhee-lee.github.io/geon.github.io/ GitHub: https://github.com/Geonhee-LEE Tel(Cell phone): (+82)10-2888-2133
Could you share your Ipopt lib with me? My e-mail is cumt2czw@163.com.Thank you!
@chanzw Hello, I installed the Ipopt through https://github.com/Geonhee-LEE/mpc_ros/blob/melodic/assets/document/ipopt_install/ipopt_x86_install_tutorial.md.
Excuse me! I have a question ,Follow the README.md, and I run the mpc_ros nav_gazebo.launch, the RVIZ has an error . The global status error ,Fixed Frame [map] does not exist.Can you help me to solve it ? Thank you .