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alualu628628 / Autonomous-Outdoor-Scanning-via-Online-Topological-and-Geometric-Path-Optimization

This is a simple version (based on ros gazebo) for outdoor mobile robot Husky to explore the unknown outdoor scenes.
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It doesn't seem to work as well when I do it #2

Closed kzhao94 closed 7 months ago

kzhao94 commented 4 years ago

hi～ thank you for sharing this project. I followed these steps, it didn't seem to work normally. some error is displaying in terminals: 1.roslaunch loam_velodyne loam_velodyne.launch [ERROR] [1587871780.768998744]: Lookup would require extrapolation into the past. Requested time 1410.430000000 but the earliest data is at time 1451.620000000, when looking up transform from frame [lidar_sensor] to frame [odom] 2.roslaunch topo_confidence_map mapping.launch [ INFO] [1587872094.246802712]: Initial the first goal: remain confidence computed time is: [-331]. updating node totalvalue: ****remove node number: 0 ****remain wide node number: 0 remain unvisited nodes are 0 3.roslaunch husky_navigation_goals send_goal.launch [ INFO] [1587872052.014035066]: Waiting for the move_base action server to come up

alualu628628 commented 4 years ago

[ERROR] from LOAM does not matter. First, please make sure that the LOAM ros node is started before the topo_confidence_map ros node, or the topo_confidence_map ros node will not receive data and shut down automatically. In addition, it is welcomed to revise the parameters listed in mapping.launch for your own test gazebo scene. Finally, I suggest to update and download the latest version of our system to solve issue.