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robin-shaun / XTDrone

UAV Simulation Platform based on PX4, ROS and Gazebo
MIT License
1.18k stars 210 forks source link

三维运动规划 #33

Open jkxdl opened 2 years ago

jkxdl commented 2 years ago

我在运行"rviz -d ego_rviz.rviz"是rviz没有出现点云图 2022-05-10 13-04-29 的屏幕截图 这是运行后的rviz 有解决办法吗

winnnnnnd commented 1 year ago

我也遇到了这样的问题

uestyhox1 commented 1 year ago

同样的问题但我的终端有报错 roslaunch ego_planner single_uav.launch ... logging to /home/kd/.ros/log/dbcd4c9a-d68b-11ed-96c8-d4548bbd70f4/roslaunch-kd-Dell-G15-5511-18187.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://kd-Dell-G15-5511:44667/

SUMMARY

PARAMETERS

NODES / iris_0_ego_planner_node (ego_planner/ego_planner_node) iris_0_map_to_world (tf/static_transform_publisher) iris_0_traj_server (ego_planner/traj_server) iris_0_world_to_ground_plane (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[iris_0_map_to_world-1]: started with pid [18217] process[iris_0_world_to_ground_plane-2]: started with pid [18218] process[iris_0_ego_planner_node-3]: started with pid [18219] process[iris_0_traj_server-4]: started with pid [18224] hit: 0.619039 miss: -0.619039 min log: -1.99243 max: 2.19722 thresh log: 1.38629 [ INFO] [1681013379.960634810]: Wait for 1 second. [FSM]: from INIT to WAIT_TARGET [iris_0_ego_planner_node-3] process has died [pid 18219, exit code -11, cmd /home/kd/catkin_ws/devel/lib/ego_planner/ego_planner_node ~odom_world:=/vins_estimator/odometry ~planning/bspline:=/xtdrone/iris_0/planning/bspline ~planning/data_display:=/xtdrone/iris_0/planning/data_display ~planning/broadcast_bspline_from_planner:=/broadcast_bspline ~planning/broadcast_bspline_to_planner:=/broadcast_bspline ~grid_map/odom:=/xtdrone/iris_0/vins_estimator/odometry ~grid_map/cloud:=/iris_0/pcl_render_node/points ~grid_map/pose:=/iris_0/camera_pose ~grid_map/depth:=/iris_0/realsense/depth_camera/depth/image_raw name:=iris_0_ego_planner_node log:=/home/kd/.ros/log/dbcd4c9a-d68b-11ed-96c8-d4548bbd70f4/iris_0_ego_planner_node-3.log]. log file: /home/kd/.ros/log/dbcd4c9a-d68b-11ed-96c8-d4548bbd70f4/iris_0_ego_planner_node-3*.log

uestyhox1 commented 1 year ago

我解决了，是通过少写下面这一步： cd ~/XTDrone/motion_planning/3d python ego_transfer.py iris 0 不晓得原理是为啥

uestyhox1 commented 1 year ago

三维运动规划，无报错但rviz标注出来方向，无人机没反应 图片

20246688 commented 1 week ago

大佬，我发现我的键盘控制按照文档来还是有问题：我需要打开[qcg]软件，然后再键盘控制按t/y，就有效果。不过无人机arm一会儿后就不转了，需要重新按y再按t才可以转。而且我发现按i调到0.3、0.4，再按b、v这些都不能飞起来。请问是什么问题呢

20246688 commented 4 days ago

大佬好，请问无人机卡位了有什么好办法解决吗？比如重置如何呢？目前只看见qgc软件上面有重置模型姿态，但是解决翻面还行，如果是无人机卡死在一个位置上还在转动，重置后无人机还是保持着之前的运行状态。还有就是无人机监控画面怎么投到QGC呢

20246688 commented 4 days ago

三维运动规划，无报错但rviz标注出来方向，无人机没反应 图片

大佬好，请问无人机卡位了有什么好办法解决吗？比如重置如何呢？目前只看见qgc软件上面有重置模型姿态，但是解决翻面还行，如果是无人机卡死在一个位置上还在转动，重置后无人机还是保持着之前的运行状态。还有就是无人机监控画面怎么投到QGC呢