https://uuvsimulator.github.io/packages/uuv_simulator/docs/tutorials/disturbances/
2019-07-18 10:30:29,701 | ERROR | dp_controller_local_planner | Invalid waypoint file
2019-07-18 10:31:35,073 | ERROR | dp_controller_local_planner | Invalid waypoint file
2019-07-18 10:31:35,077 | ERROR | dp_controller_local_planner | Invalid waypoint file
2019-07-18 10:32:48,105 | ERROR | dp_controller_local_planner | The trajectory starts in the past, correct the starting time!
2019-07-18 10:32:48,106 | ERROR | dp_controller_local_planner | The trajectory starts in the past, correct the starting time!
2019-07-18 10:33:27,797 | INFO | dp_controller_local_planner | Start waypoint trajectory now!
2019-07-18 10:33:27,797 | INFO | dp_controller_local_planner | STATION KEEPING MODE = ON
REXROV -- 2019-07-18 10:33:27,797 | INFO | wp_trajectory_generator | Interpolation method set: lipb
2019-07-18 10:33:27,798 | INFO | trajectory_generator | Initial rotation vector (quat)=[ 2.74897293e-04 3.22947287e-04 -3.29252934e-05 9.99999910e-01]
2019-07-18 10:33:27,798 | INFO | trajectory_generator | Initial rotation vector (rpy)=(0.0005497734127797796, 0.0006459126631402289, -6.567303992526991e-05)
2019-07-18 10:33:27,798 | INFO | path_generator | Setting initial rotation as=[ 2.74897293e-04 3.22947287e-04 -3.29252934e-05 9.99999910e-01]
REXROV -- 2019-07-18 10:33:27,799 | INFO | wp_trajectory_generator | Setting new starting time, t=414.51 s
2019-07-18 10:33:27,799 | ERROR | dp_controller_local_planner | Error generating trajectory message
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | STATION KEEPING MODE = OFF
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | AUTOMATIC MODE = ON
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | TRAJECTORY TRACKING = ON
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | ============================
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | IMPORT WAYPOINTS FROM FILE
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | ============================
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | Filename = /home/zhangym/catws/src/uuv_simulator/uuv_control/uuv_control_utils/config/example_waypoints1.yaml
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | Interpolator = lipb
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | # waypoints = 1
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | Starting time = 414.51
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | Inertial frame ID = world
2019-07-18 10:33:27,799 | INFO | dp_controller_local_planner | ============================
2019-07-18 10:33:27,800 | INFO | dp_controller_local_planner | Start waypoint trajectory now!
2019-07-18 10:33:27,800 | INFO | dp_controller_local_planner | STATION KEEPING MODE = ON
REXROV2 -- 2019-07-18 10:33:27,800 | INFO | wp_trajectory_generator | Interpolation method set: lipb
2019-07-18 10:33:27,801 | INFO | trajectory_generator | Initial rotation vector (quat)=[ 7.16326074e-10 2.75965306e-04 -2.59573996e-06 9.99999962e-01]
2019-07-18 10:33:27,801 | INFO | trajectory_generator | Initial rotation vector (rpy)=(-1.6248691234612063e-14, 0.0005519306182239155, -5.191480112509533e-06)
2019-07-18 10:33:27,801 | INFO | path_generator | Setting initial rotation as=[ 7.16326074e-10 2.75965306e-04 -2.59573996e-06 9.99999962e-01]
REXROV2 -- 2019-07-18 10:33:27,801 | INFO | wp_trajectory_generator | Setting new starting time, t=414.51 s
2019-07-18 10:33:27,801 | ERROR | dp_controller_local_planner | Error generating trajectory message
2019-07-18 10:33:27,801 | INFO | dp_controller_local_planner | STATION KEEPING MODE = OFF
2019-07-18 10:33:27,802 | INFO | dp_controller_local_planner | AUTOMATIC MODE = ON
2019-07-18 10:33:27,802 | INFO | dp_controller_local_planner | TRAJECTORY TRACKING = ON
2019-07-18 10:33:27,802 | INFO | dp_controller_local_planner | ============================
2019-07-18 10:33:27,802 | INFO | dp_controller_local_planner | IMPORT WAYPOINTS FROM FILE
2019-07-18 10:33:27,802 | INFO | dp_controller_local_planner | ============================
2019-07-18 10:33:27,802 | INFO | dp_controller_local_planner | Filename = /home/zhangym/catws/src/uuv_simulator/uuv_control/uuv_control_utils/config/example_waypoints2.yaml
2019-07-18 10:33:27,802 | INFO | dp_controller_local_planner | Interpolator = lipb
2019-07-18 10:33:27,802 | INFO | dp_controller_local_planner | # waypoints = 1
2019-07-18 10:33:27,802 | INFO | dp_controller_local_planner | Starting time = 414.51
2019-07-18 10:33:27,802 | INFO | dp_controller_local_planner | Inertial frame ID = world
2019-07-18 10:33:27,802 | INFO | dp_controller_local_planner | ============================
2019-07-18 10:33:27,805 | INFO | dp_controller_local_planner | Adding waypoints to approach the first position in the given waypoint set
2019-07-18 10:33:27,845 | INFO | dp_controller_local_planner | Adding waypoints to approach the first position in the given waypoint set
2019-07-18 10:33:28,342 | INFO | dp_controller_local_planner | Updating the trajectory information
2019-07-18 10:33:28,353 | INFO | dp_controller_local_planner | Updating the trajectory information
2019-07-18 10:33:28,518 | INFO | dp_controller_local_planner | Updating the trajectory information
2019-07-18 10:33:28,537 | INFO | dp_controller_local_planner | Updating the trajectory information
2019-07-18 10:33:29,020 | INFO | dp_controller_local_planner | Adding waypoints to approach the given waypoint trajectory
REXROV -- 2019-07-18 10:33:29,020 | INFO | wp_trajectory_generator | Waypoint interpolator initialized! Start time: 414.51 s
2019-07-18 10:33:29,037 | INFO | dp_controller_local_planner | Adding waypoints to approach the given waypoint trajectory
REXROV2 -- 2019-07-18 10:33:29,038 | INFO | wp_trajectory_generator | Waypoint interpolator initialized! Start time: 414.51 s
2019-07-18 10:33:52,850 | INFO | dp_controller_local_planner | /rexrov2/ - Trajectory completed!
2019-07-18 10:33:52,850 | INFO | dp_controller_local_planner | STATION KEEPING MODE = ON
2019-07-18 10:33:52,850 | INFO | dp_controller_local_planner | AUTOMATIC MODE = OFF
2019-07-18 10:33:52,850 | INFO | dp_controller_local_planner | TRAJECTORY TRACKING = OFF
2019-07-18 10:34:05,312 | INFO | dp_controller_local_planner | /rexrov/ - Trajectory completed!
2019-07-18 10:34:05,312 | INFO | dp_controller_local_planner | STATION KEEPING MODE = ON
2019-07-18 10:34:05,313 | INFO | dp_controller_local_planner | AUTOMATIC MODE = OFF
2019-07-18 10:34:05,313 | INFO | dp_controller_local_planner | TRAJECTORY TRACKING = OFF
运行 send_waypoints_file.launch 时,一些错误解决方法。
1. example_waypoints.yaml 文件找不到, 记得source devel/setup.bash . 并保证文件正确且存在。
2. 修改 start_time 的值,为负数,0,正数,直到仿真成功为止