Lec1ercW commented 2 months ago

编译没有问题，在运行的时候，出现了Eigen变量内存管理的错误，报错如下 exploration_node: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:128: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 32>::plain_array() [with T = double; int Size = 4; int MatrixOrArrayOptions = 0]: Assertion `(internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (31)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " READ THIS WEB PAGE !!! "' failed. Stack trace (most recent call last):

12 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in

11 Object "/home/feynman/Github_project/FUEL/catkin_ws/devel/lib/exploration_manager/exploration_node", at 0x555869e18159, in _start

10 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdba3821c86, in __libc_start_main

9 Object "/home/feynman/Github_project/FUEL/catkin_ws/devel/lib/exploration_manager/exploration_node", at 0x555869e17ebf, in main

8 Object "/home/feynman/Github_project/FUEL/catkin_ws/devel/lib/exploration_manager/exploration_node", at 0x555869e1f652, in fast_planner::FastExplorationFSM::init(ros::NodeHandle&)

7 Object "/home/feynman/Github_project/FUEL/catkin_ws/devel/lib/exploration_manager/exploration_node", at 0x555869e2c224, in fast_planner::FastExplorationManager::initialize(ros::NodeHandle&)

6 Object "/home/feynman/Github_project/FUEL/catkin_ws/devel/lib/libplan_manage.so", at 0x7fdba7011b1b, in fast_planner::FastPlannerManager::initPlanModules(ros::NodeHandle&)

5 Object "/home/feynman/Github_project/FUEL/catkin_ws/devel/lib/libplan_env.so", at 0x7fdba5c4f933, in fast_planner::SDFMap::initMap(ros::NodeHandle&)

4 Object "/home/feynman/Github_project/FUEL/catkin_ws/devel/lib/libplan_env.so", at 0x7fdba5c6e4a7, in fast_planner::MapROS::MapROS()

3 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdba3830471, in __assert_fail

2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdba38303f9, in

1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdba38407f0, in abort

0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdba383ee87, in gsignal

Aborted (Signal sent by tkill() 10522 1000)

[exploration_node-1] process has died [pid 10522, exit code -6, cmd /home/feynman/Github_project/FUEL/catkin_ws/devel/lib/exploration_manager/exploration_node /odom_world:=/state_ukf/odom /map_ros/pose:=/pcl_render_node/sensor_pose /map_ros/depth:=/pcl_render_node/depth /map_ros/cloud:=/pcl_render_node/cloud __name:=exploration_node __log:=/home/feynman/.ros/log/dc31ae9a-43ec-11ef-8f48-04e8b9f166c0/exploration_node-1.log]. log file: /home/feynman/.ros/log/dc31ae9a-43ec-11ef-8f48-04e8b9f166c0/exploration_node-1*.log

出现此错误后，rviz地图中没有边界显示，可以设置2dnavgoal，但无人机不会有任何动作

hosonhere commented 1 month ago

可以尝试看看利用 set(CMAKE_CXX_STANDARD 17) 进行编译

Lec1ercW commented 1 month ago

感谢您的回复，解决了我的问题，但是也带来了新的问题目前的情况是，启动程序后，无人机会识别环境中的边界，在设置2dnavgoal后，无人机会规划出来一条路经，但不会执行，直接报错，报错内容如下： [traj_server-2] process has died [pid 10117, exit code -11, cmd /home/feynman/Github_project/FUEL/catkin_ws/devel/lib/plan_manage/traj_server /position_cmd:=planning/pos_cmd /odom_world:=/state_ukf/odom __name:=traj_server __log:=/home/feynman/.ros/log/7ccab31a-4640-11ef-bd32-04e8b9f166c0/traj_server-2.log]. log file: /home/feynman/.ros/log/7ccab31a-4640-11ef-bd32-04e8b9f166c0/traj_server-2*.log