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matthewoots / px4-path-planner

PX4 path planning module, this integrate mavros with the offboard node for position control, adding in uniform bspline trajectory and reciprocal avoidance
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how to run? #2

Open mengchaoheng opened 1 month ago

mengchaoheng commented 1 month ago 
Warnings   << px4_path_planner:check /home/parallels/mavros_ws/logs/px4_path_planner/build.check.000.log                                                                                 
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'Eigen3' but neither 'Eigen3_INCLUDE_DIRS' nor
  'Eigen3_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  CMakeLists.txt:41 (catkin_package)

cd /home/parallels/mavros_ws/build/px4_path_planner; catkin build --get-env px4_path_planner | catkin env -si  /usr/bin/make cmake_check_build_system; cd -

.........................................................................................................................................................................................
Finished  <<< mavros_extras                         [ 0.6 seconds ]                                                                                                                      
Starting  >>> geometric_controller                                                                                                                                                       
Starting  >>> test_mavros                                                                                                                                                                
Finished  <<< test_mavros                           [ 0.1 seconds ]                                                                                                                      
Finished  <<< geometric_controller                  [ 0.7 seconds ]                                                                                                                      
Starting  >>> mavros_controllers                                                                                                                                                         
Finished  <<< mavros_controllers                    [ 0.1 seconds ]                                                                                                                      
_________________________________________________________________________________________________________________________________________________________________________________________
Errors     << px4_path_planner:make /home/parallels/mavros_ws/logs/px4_path_planner/build.make.001.log                                                                                   
In file included from /home/parallels/mavros_ws/src/px4-path-planner/include/task.h:69,
                 from /home/parallels/mavros_ws/src/px4-path-planner/src/main.cpp:25:
/home/parallels/mavros_ws/src/px4-path-planner/include/bspline_optimization.h:37:10: fatal error: LBFGSB.h: No such file or directory
   37 | #include <LBFGSB.h>
      |          ^~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/px4_path_planner_node.dir/build.make:63: CMakeFiles/px4_path_planner_node.dir/src/main.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:1527: CMakeFiles/px4_path_planner_node.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/parallels/mavros_ws/build/px4_path_planner; catkin build --get-env px4_path_planner | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

.........................................................................................................................................................................................
Failed     << px4_path_planner:make                 [ Exited with code 2 ]                                                                                                               
Failed    <<< px4_path_planner                      [ 4.9 seconds ]                                                                                                                      
[build] Summary: 21 of 22 packages succeeded.                                                                                                                                            
[build]   Ignored:   None.                                                                                                                                                               
[build]   Warnings:  1 packages succeeded with warnings.                                                                                                                                 
[build]   Abandoned: None.                                                                                                                                                               
[build]   Failed:    1 packages failed.                                                                                                                                                  
[build] Runtime: 7.1 seconds total.                                                                                                                                                      
parallels@ubuntu-linux-20-04-desktop:~/mavros_ws$
mengchaoheng commented 1 month ago

clone the code by follow:

git clone https://github.com/matthewoots/px4-path-planner.git

git submodule update --init --recursive
mengchaoheng commented 1 month ago

But how to run?

mengchaoheng commented 1 month ago 
[ERROR] [1721381221.293828217]: Error transforming pose 'Agent-Pose' from frame '/map_nwu' to frame 'map_nwu'
[ERROR] [1721381221.293863259]: Error transforming pose 'Agent-Pose' from frame '/map_nwu' to frame 'map_nwu'
[ WARN] [1721381221.344059591]: Invalid argument "/map_nwu" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: 
[ERROR] [1721381221.344418968]: Error transforming pose 'Agent-Pose' from frame '/map_nwu' to frame 'map_nwu'
[ WARN] [1721381221.393445500]: Invalid argument "/map_nwu" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: 
[ WARN] [1721381221.393518626]: Invalid argument "/map_nwu" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: 
[ERROR] [1721381221.393873211]: Error transforming pose 'Agent-Pose' from frame '/map_nwu' to frame 'map_nwu'
[ERROR] [1721381221.393911086]: Error transforming pose 'Agent-Pose' from frame '/map_nwu' to frame 'map_nwu'