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ROS
乔克1998
虽然走得慢,但是不会停
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【安装与运行】IROS2020:Remove, then Revert - 基于多分辨率深度图的动态物体移除方法
Removert!!!原创 2022-07-12 09:35:28 · 1309 阅读 · 12 评论 -
利用绝对值编码器计算odom&阿克曼运动学模型
一、绝对值编码器:增量编码器有一个缺点:即当发生电源故障时丢失轴位置。然而,对于绝对编码器来说,即使发生电源故障也不丢失轴位置。绝对编码器由机械位置确定编码,它无需记忆,无需找参考点,而且不用一直计数,什么时候需要知道位置,什么时候就去读取它的位置。这样,编码器的抗干扰特性、数据的可靠性大大提高了。二、编码器参数:64圈绝对值编码器;12位(4096)即一圈4096个脉冲;Modbus RTU协议。38mm外径/6mm轴。三、Modbus RTU协议:当通讯命令由发送设备(主机)发送至接收设备(从机)时原创 2021-12-28 17:05:55 · 2426 阅读 · 1 评论 -
用自己的摄像头运行SVO(效果不好)
《SVO: Fast Semi-Direct Monocular Visual Odometry》一、摘要semi-direct 半直接减小了特征提取的量匹配的运动估计更鲁棒直接从pixel intensities(像素强度)操作在高帧速率下得到subpixel precision(亚像素精度)models outlier measurements (建模异常值来估计异常点)二、引言将基于特征的方法(跟踪多个特征、并行跟踪和映射、关键帧选择)的优点因素与直接方法的准确性和速度相结合。介原创 2021-11-24 17:07:05 · 852 阅读 · 1 评论 -
fatal error: rqt_gui_cpp/plugin.h: No such file or directory
fatal error: rqt_gui_cpp/plugin.h: No such file or directory已经sudo apt-get install ros-melodic-rqt-gui-cpp了,但是找不到在文件所在的cmakelist里添加:原创 2021-11-23 10:14:44 · 493 阅读 · 0 评论 -
rostopic——text并画图
rostopic转txt原创 2021-11-19 22:31:27 · 187 阅读 · 0 评论 -
小黄车的室内建图导航
gmapping建图连接底盘串口usb和雷达usb1./lingao_ws$ source devel/setup.bash2.开启底盘:roslaunch lingao_bringup robot.launch3.开启slam建图:roslaunch lingao_slam slam.launch4.保存地图:roslaunch lingao_slam save_map.launch5.导航:roslaunch lingao_navigation navigate_waypoint.launc原创 2021-11-06 13:38:41 · 1110 阅读 · 0 评论 -
2021-11-06松灵小车调试
1. ifconfig //显示当前网络设置 2. ping 192.168.3.191 //检测主机是否运作正常 3. ssh agilex@192.168.3.205 //远程连接小车计算机 4. roslaunch limo_bringup limo_start.launch //开启底盘 5. roslaunch limo_bringup limo_cartographer.launch //开启carto建图 6. rosservice call /fi.原创 2021-11-06 13:03:28 · 590 阅读 · 1 评论 -
2021-10-22 ACML概念与应用
一、概念AMCL(adaptive Monte Carlo Localization)自适应蒙特卡洛定位,官方解释:Amcl is a probabilistic localization system for a robot moving in 2D. It implements the adaptive (or KLD-sampling) Monte Carlo localization approach (as described by Dieter Fox), which uses a part原创 2021-11-01 13:58:46 · 1403 阅读 · 0 评论 -
A-loam+amcl+move_base
本文想用a-loam算法实现建图定位导航。命令流程如下:1.开启16线激光雷达roslaunch lslidar_c16_decoder lslidar_c16.launch 2.启动aloamroslaunch aloam_velodyne aloam_velodyne_VLP_16.launch 启动laser-scan-match提供odomroslaunch aloam_velodyne aloam_velodyne_VLP_16.launch 4.启动amcl定位ro原创 2021-10-19 11:22:57 · 2115 阅读 · 3 评论 -
2021-09-13
ekf中 imu和odometry的协方差矩阵怎么得到参考 https://www.cnblogs.com/21207-iHome/p/8117069.html原创 2021-09-13 16:02:05 · 57 阅读 · 0 评论 -
保存地图(gmapping和cartographer)
gmapping:rosrun map_server map_saver -f ~/catkin_ws/map/mymapcartographer:// 进入工作空间cd carto_ws//设置环境变量source install_isolated/setup.bash //完成轨迹,不再接受数据rosservice call /finish_trajectory 0//序列化保存当前状态rosservice call /write_state /home/mxy/map/ca转载 2021-08-14 10:00:07 · 1101 阅读 · 1 评论 -
2021-08-08
重装ROS后打开usb摄像头报错:Failed to load nodelet [/image_view] of type [image_view/image] even after refreshing the cache: Failed to load library /opt/ros/melodic/lib//libimage_view.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library原创 2021-08-08 22:03:42 · 644 阅读 · 0 评论 -
SVO (1)跑数据集
roscore cd leishen_ws/src/rpg_svo/svo_ros/launch/roslaunch svo_ros test_rig3.launchrosrun rviz rviz -d <PATH TO rpg_svo>/svo_ros/rviz_config.rviz// A code blockvar foo = 'bar';原创 2021-08-08 20:26:25 · 320 阅读 · 0 评论 -
解决cv_bridge与python版本问题error: return-statement with no value, in function returning ‘void*’ [-f
https://blog.csdn.net/qq_45762949/article/details/108625881https://gitee.com/bingobinlw/cv_bridge/blob/master/README.md原创 2021-08-08 12:44:45 · 2668 阅读 · 0 评论 -
SVO相机标定环境配置相关问题
报错:terminate called after throwing an instance of ‘std::runtime_error’what(): Frame: provided image has not the same size as the camera model or image is not grayscale解决:经过调试发现是这句的问题:vo_->addImage(img, msg->header.stamp.toSec());调用FrameHandle原创 2021-08-06 13:23:31 · 631 阅读 · 0 评论 -
SVO 报错:segmentation fault (core dumped)
解决:img = cv_bridge::toCvShare(msg, “mono8”)->image;mono8改成rgb8才是自己的摄像头格式。原创 2021-08-05 11:49:39 · 169 阅读 · 0 评论 -
svo报错:double free or corruption (out) Aborted (core dumped)
在CMakeLists.txt中 把 -march=native和-march相关的都删掉。ok原创 2021-08-05 09:40:47 · 1251 阅读 · 0 评论 -
nav_msgs/Odometry和geometry_msgs/Pose2D 类型比较与转化
看到geometry_msgs/Pose2D的类型很简单,所以要把ICP发布的这个里程计信息转化成nav_msgs/Odometry原代码: if (publish_pose_) { // unstamped Pose2D message geometry_msgs::Pose2D::Ptr pose_msg; pose_msg = boost::make_shared<geometry_msgs::Pose2D>(); pos原创 2021-08-02 19:40:51 · 2505 阅读 · 0 评论 -
[FATAL] ROS error ASSERTION FAILED Call to publish() on an invalid Publisher
编译通过但是rosrun报错解决:原创 2021-08-01 15:09:18 · 1239 阅读 · 0 评论 -
记录学习pose_ekf融合gps/imu
sensor_simulator_node.cpp 里发布的话题:/imu/magnetic/fix/fix_velocity/odometry/posepathpose_ekf_node.cpp 里订阅的话题:imumagnetic_fieldmagnetic_field_v3fixsonar_heightfix_velocityfix_velocity_v3发布的话题:pathgps_path/odom/est_pose/gps_pose/delta_pos原创 2021-07-19 22:26:33 · 2128 阅读 · 1 评论 -
2021-07-15
激光slam及定位1.连接USB ls /dev 看一下是USB0还是USB1 给串口权限$ sudo chmod 777 /dev/ttyUSB02.cd /leishen_ws/src/laser_scan_matcher/demo$ roslaunch demo_gmapping.launch (启动SLAM)3.cd /leishen_ws/src/navigation/amcl/examples$ roslaunch amcl_diff.launch (启动amcl定位)imu读取原创 2021-07-15 16:44:49 · 148 阅读 · 0 评论