CATVehicle 调试过程中错误记录

开发ROS，先打开终端运行:$roscore

$roslaunch catvehicle catvehicle_follower.launch 

[ERROR] [WallTime: 1503978445.501898] [0.000000] bad callback: <bound method cmdvel2gazebo.callback of <__main__.cmdvel2gazebo instance at 0x7f11528450e0>>
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 720, in _invoke_callback
    cb(msg)
  File "/home/fhp/catvehicle_ws/src/catvehicle/src/cmdvel2gazebo.py", line 90, in callback
    self.z = max(-self.maxsteer,min(self.maxsteer,data.angular.z))
AttributeError: cmdvel2gazebo instance has no attribute 'maxsteer'

解决：

cd ~/catvehicle_ws
source devel/setup.bash
export SVGA_VGPU10=0
roslaunch catvehicle catvehicle_follower.launch

$ roslaunch catvehicle hectorslam.launch

[ERROR] [1503974373.815068332, 1899.686000000]: Transform failed during publishing of map_odom transform: Lookup would require extrapolation into the past.  Requested time 1899.166000000 but the earliest data is at time 1899.306000000, when looking up transform from frame [catvehicle/base_link] to frame [catvehicle/odom]

解决：

https://answers.ros.org/question/164911/move_base-and-extrapolation-errors-into-the-future/

$gzclient

Error [ModelDatabase.cc:383] Unable to parse model.config for model[http://gazebosim.org/models/calibration_plane]
Error [ModelDatabase.cc:383] Unable to parse model.config for model[http://gazebosim.org/models/checkerboard_plane]

解决：http://answers.gazebosim.org/question/1509/how-to-solve-these-errors-modeldatabasecc290/

https://bitbucket.org/osrf/gazebo_models/pull-requests/263/unable-to-parse-modelconfig/diff#comment-None

X Error of failed request:  BadDrawable (invalid Pixmap or Window parameter)
  Major opcode of failed request:  154 (DRI2)
  Minor opcode of failed request:  3 (DRI2CreateDrawable)
  Resource id in failed request:  0x4400002
  Serial number of failed request:  29
  Current serial number in output stream:  30

解决：再次打开gazebo

$roslaunch catvehicle catvehicle_neighborhood.launch

[gazroslaunch catvehicle catvehicle_neighborhood.launchebo-roslaunch catvehicle catvehicle_neighborhood.launch2] process has died [pid 70182, exit code 134, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver -e ode /home/fhp/catvehicle_ws/src/catvehicle/worlds/neighborhood.world __name:=gazebo __log:=/home/fhp/.ros/log/b2274a4a-8c99-11e7-9967-000c29e8ca7d/gazebo-2.log].
log file: /home/fhp/.ros/log/b2274a4a-8c99-11e7-9967-000c29e8ca7d/gazebo-2*.log

解决：重新安装ROS环境

$rosrun rviz rviz

[ERROR] [1503999618.128766367, 40.336000000]: Tried to advertise a service that is already advertised in this node [/rviz_1503999603320481670/compressed/set_parameters]

$roslaunch catvehicle joystick.launch

[ERROR] [1504082464.785372304]: Couldn't open joystick /dev/input/js0. Will retry everysecond.

解决： sudo chmod +777 /dev/input/js0