2020ROS校内赛

遇到的问题

1.运行ros工程时缺失这个依赖，运行下面的命令提示webside down，

sudo rosdep init

安装下列依赖后即可解决问题！

sudo apt-get install python-rosdep python-wstool

再rosdep update即可！
2.gazebo黑屏
下载模型库

cd ~/.gazebo/
mkdir  models
cd models/
wget http://file.ncnynl.com/ros/gazebo_models.txt
wget -i gazebo_models.txt
ls model.tar.g* | xargs -n1 tar xzvf

设置环境变量为0

export SVGA_VGPU10=0

貌似每次打开前需要断网才能成功打开
3.gazebo闪退

#关闭硬件加速
echo " export SVGA_VGPU10=0" >> ~/.bashrc
source ~/.bashrc

再关闭虚拟机的3D图形加速即可（需先将虚拟机关机）
4.rviz运行报错

[FATAL] [1601653476.560581370, 115.714000000]: Failed to create the teb_local_planner/TebLocalPlannerROS planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class teb_local_planner/TebLocalPlannerROS with base class type nav_core::BaseLocalPlanner does not exist. Declared types are  base_local_planner/TrajectoryPlannerROS dwa_local_planner/DWAPlannerROS
[move_base-6] process has died [pid 50747, exit code 1, cmd /opt/ros/kinetic/lib/move_base/move_base __name:=move_base __log:=/home/xxmlala/.ros/log/e0fff546-04c4-11eb-952d-000c2931bd2c/move_base-6.log].
log file: /home/xxmlala/.ros/log/e0fff546-04c4-11eb-952d-000c2931bd2c/move_base-6*.log

安装对应的包即可：

$ sudo apt-get install ros-melodic-teb-local-planner

5.rviz中小车无法移动

$ sudo apt-get install ros-kinetic-gazebo-ros-control

6.By not providing “FindMRPT.cmake” in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by “MRPT”, but
CMake did not find one.

sudo apt-get install mrpt-apps libmrpt-dev

7.Failed to create the global_planner

sudo apt-get install ros-kinetic-global-planner

8.启动gazebo时加载controller失败

sudo apt-get install ros-kinetic-effort-controllers
sudo apt-get install ros-kinetic-joint-state-controller

常用命令汇总

# 查看TF树
$ rosrun rqt_tf_tree rqt_tf_tree

# 查看节点图
$ rosrun rqt_graph rqt_graph 

$ roslaunch navigation_sim_demo amcl_with_ekf.launch 

$ roslaunch racecar_gazebo racecar_joy.launch