search

saifullah3396 / vfh3d

An implementation of the vfh3d local planning algorithm.
3 stars 7 forks source link

Help getting errors on launch #1

Open mjs513 opened 3 years ago

mjs513 commented 3 years ago

Built PX4 fastplanner and that seemed to work but not well on a pi4 :) and now trying to get this lib working but getting the following on launch but can't figure out the error:


ubuntu@ubuntu:~$ roslaunch vfh3d vfh3d_planner_test.launch
... logging to /home/ubuntu/.ros/log/fc1b1c74-066e-11eb-a067-dca632bd9293/roslaunch-ubuntu-7182.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://ubuntu:43231/

SUMMARY
========

PARAMETERS
 * /polar_histogram_test_node/map_resolution: 0.15
 * /polar_histogram_test_node/octomap_topic: /octomap_binary
 * /polar_histogram_test_node/pose_topic: /mavros/local_pos...
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.9
 * /vfh3d_node/const_a: 10.0
 * /vfh3d_node/hist_resolution: 0.087222222
 * /vfh3d_node/map_resolution: 0.15
 * /vfh3d_node/max_plan_range: 3.0
 * /vfh3d_node/octomap_topic: /octomap_binary
 * /vfh3d_node/pose_topic: /mavros/local_pos...
 * /vfh3d_node/turning_radius_l: 0.2
 * /vfh3d_node/turning_radius_r: 0.2
 * /vfh3d_node/vehicle_safety_radius: 0.2

NODES
  /
    polar_histogram_test_node (vfh3d/polar_histogram_test_node)
    vfh3d_node (vfh3d/vfh3d_node)

auto-starting new master
process[master]: started with pid [7195]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fc1b1c74-066e-11eb-a067-dca632bd9293
process[rosout-1]: started with pid [7207]
started core service [/rosout]
process[polar_histogram_test_node-2]: started with pid [7214]
process[vfh3d_node-3]: started with pid [7215]
[ WARN] [1601835935.280898384]: couldn't register subscriber on topic [/]
[ WARN] [1601835935.322537951]: Polar Histogram not initialized yet. Cannot correct velocity.
[ WARN] [1601835935.418441511]: Polar Histogram not initialized yet. Cannot correct velocity.
[vfh3d_node-3] process has died [pid 7215, exit code -11, cmd /home/ubuntu/catkin_ws/devel/lib/vfh3d/vfh3d_node __name:=vfh3d_node __log:=/home/ubuntu/.ros/log/fc1b1c74-066e-11eb-a067-dca632bd9293/vfh3d_node-3.log].
log file: /home/ubuntu/.ros/log/fc1b1c74-066e-11eb-a067-dca632bd9293/vfh3d_node-3*.log
saifullah3396 commented 3 years ago

Hi, can you add this parameter in the launch file and test if its working?

  <node name="vfh3d_node" pkg="vfh3d" type="vfh3d_node" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
--> over here    <param name="cmd_pose_topic" value="/cmd_pose" />
  </node>
mjs513 commented 3 years ago

Added in test launch but did not work:, Assuming here that the launch file is in the src folder>

This is the way it reads now:

<node name="vfh3d_node" pkg="vfh3d" type="vfh3d_node" output="$(arg output)" launch-``` prefix="$(arg launch_prefix)">

<param name="octomap_topic" value="$(arg octomap_topic)" />
<param name="hist_resolution" value="$(arg hist_resolution)" />
<param name="map_resolution" value="$(arg map_resolution)" />
<param name="max_plan_range" value="$(arg max_plan_range)" />
<param name="const_a" value="$(arg const_a)" />
<param name="pose_topic" value="/mavros/local_position/pose" />
<param name="vehicle_safety_radius" value="0.2" />
<param name="turning_radius_l" value="0.2" />
<param name="turning_radius_r" value="0.2" />

ubuntu@ubuntu:~$ roslaunch vfh3d vfh3d_planner_test.launch ... logging to /home/ubuntu/.ros/log/ac7e1230-067c-11eb-8cf4-dca632bd9293/roslaunch-ubuntu-3424.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://ubuntu:34835/

SUMMARY

PARAMETERS

NODES / polar_histogram_test_node (vfh3d/polar_histogram_test_node) vfh3d_node (vfh3d/vfh3d_node)

auto-starting new master process[master]: started with pid [3438] ROS_MASTER_URI=http://localhost:11311

setting /run_id to ac7e1230-067c-11eb-8cf4-dca632bd9293 process[rosout-1]: started with pid [3449] started core service [/rosout] process[polar_histogram_test_node-2]: started with pid [3452] process[vfh3d_node-3]: started with pid [3453] [ WARN] [1601841815.610945513]: Polar Histogram not initialized yet. Cannot correct velocity. [ WARN] [1601841815.706008680]: Polar Histogram not initialized yet. Cannot correct velocity. [vfh3d_node-3] process has died [pid 3453, exit code -11, cmd /home/ubuntu/catkin_ws/devel/lib/vfh3d/vfh3d_node __name:=vfh3d_node __log:=/home/ubuntu/.ros/log/ac7e1230-067c-11eb-8cf4-dca632bd9293/vfh3d_node-3.log]. log file: /home/ubuntu/.ros/log/ac7e1230-067c-11eb-8cf4-dca632bd9293/vfh3d_node-3*.log


Just fair warning never used ROS before so still learning here.  Am I missing something that I have to start as well?

FYI:  Running on a PI4 with Ubuntu 18.04, ROS
saifullah3396 commented 3 years ago

Added in test launch but did not work:, Assuming here that the launch file is in the src folder>

This is the way it reads now:

<node name="vfh3d_node" pkg="vfh3d" type="vfh3d_node" output="$(arg output)" launch-``` prefix="$(arg launch_prefix)">

ubuntu@ubuntu:~$ roslaunch vfh3d vfh3d_planner_test.launch ... logging to /home/ubuntu/.ros/log/ac7e1230-067c-11eb-8cf4-dca632bd9293/roslaunch-ubuntu-3424.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://ubuntu:34835/

SUMMARY

PARAMETERS

  • /polar_histogram_test_node/map_resolution: 0.15
  • /polar_histogram_test_node/octomap_topic: /octomap_binary
  • /polar_histogram_test_node/pose_topic: /mavros/local_pos...
  • /robot_description: <?xml version="1....
  • /rosdistro: melodic
  • /rosversion: 1.14.9
  • /vfh3d_node/cmd_pose_topic: /cmd_pose
  • /vfh3d_node/const_a: 10.0
  • /vfh3d_node/hist_resolution: 0.087222222
  • /vfh3d_node/map_resolution: 0.15
  • /vfh3d_node/max_plan_range: 3.0
  • /vfh3d_node/octomap_topic: /octomap_binary
  • /vfh3d_node/pose_topic: /mavros/local_pos...
  • /vfh3d_node/turning_radius_l: 0.2
  • /vfh3d_node/turning_radius_r: 0.2
  • /vfh3d_node/vehicle_safety_radius: 0.2

NODES / polar_histogram_test_node (vfh3d/polar_histogram_test_node) vfh3d_node (vfh3d/vfh3d_node)

auto-starting new master process[master]: started with pid [3438] ROS_MASTER_URI=http://localhost:11311

setting /run_id to ac7e1230-067c-11eb-8cf4-dca632bd9293 process[rosout-1]: started with pid [3449] started core service [/rosout] process[polar_histogram_test_node-2]: started with pid [3452] process[vfh3d_node-3]: started with pid [3453] [ WARN] [1601841815.610945513]: Polar Histogram not initialized yet. Cannot correct velocity. [ WARN] [1601841815.706008680]: Polar Histogram not initialized yet. Cannot correct velocity. [vfh3d_node-3] process has died [pid 3453, exit code -11, cmd /home/ubuntu/catkin_ws/devel/lib/vfh3d/vfh3d_node __name:=vfh3d_node __log:=/home/ubuntu/.ros/log/ac7e1230-067c-11eb-8cf4-dca632bd9293/vfh3d_node-3.log]. log file: /home/ubuntu/.ros/log/ac7e1230-067c-11eb-8cf4-dca632bd9293/vfh3d_node-3*.log

Just fair warning never used ROS before so still learning here.  Am I missing something that I have to start as well?

FYI:  Running on a PI4 with Ubuntu 18.04, ROS

Please add the 'cmd_pose_topic' parameter like I have shown: <param name="cmd_pose_topic" value="/cmd_pose" />

mjs513 commented 3 years ago

@saifullah3396 My apologies. Just noticed that the Mavros node that i pasted in didn't show the whole setup:

 <!-- Start the mavros navigation node -->
  <node name="vfh3d_node" pkg="vfh3d" type="vfh3d_node" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
    **<param name="cmd_pose_topic" value="/cmd_pose" />**
    <param name="octomap_topic" value="$(arg octomap_topic)" />
    <param name="hist_resolution" value="$(arg hist_resolution)" />
    <param name="map_resolution" value="$(arg map_resolution)" />
    <param name="max_plan_range" value="$(arg max_plan_range)" />
    <param name="const_a" value="$(arg const_a)" />
    <param name="pose_topic" value="/mavros/local_position/pose" />
    <param name="vehicle_safety_radius" value="0.2" />
    <param name="turning_radius_l" value="0.2" />
    <param name="turning_radius_r" value="0.2" />
  </node>

When I start Rviz and look at the topics: Screenshot from 2020-10-05 07-04-46 Terminal shows this message for Rviz: [rospack] Error: failed to parse command-line options: too many positional options have been specified on the command line

wzy012 commented 3 years ago

hello，I was in touch with the white of this algorithm for the first time. If I need to transplant this algorithm to a quadruped robot, what parts should I change？Can you give me some advises?Thanks!

LiuL0ngl0ng commented 1 year ago

i think you should note this: “[ WARN] [1601835935.280898384]: couldn't register subscriber on topic [/] [ WARN] [1601835935.322537951]: Polar Histogram not initialized yet. Cannot correct velocity. [ WARN] [1601835935.418441511]: Polar Histogram not initialized yet. Cannot correct velocity.” the problem is the topic"octomap_topic" no message. because you should create the octomap as a input source before start this algorithm.

LiuL0ngl0ng commented 1 year ago

cmd_pose_topic

is the function of the topic "cmd_pose_topic" give the drone a target point?

aravi-2001 commented 1 year ago

same issue persisting for me, please help if you can @saifullah3396

saifullah3396 commented 1 year ago

@LiuL0ngl0ng, hi yes you're right. That should be given via the rviz or by console commands.

saifullah3396 commented 1 year ago

@aravi-2001 It's been a while since I've worked on this project and I cannot take out time at this time to help running up the project since I am not actively maintaining it. Still I am sure if you follow all the steps correctly, you should be able to get it running. I apologize for that!