hanruihua / master_multirobot Goto Github PK
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License: MIT License
The project of multiple robot localization by fusing multiple sensors
License: MIT License
Hi @hanruihua :)
I finally installed the dependencies and rearranged your package for working in my configuration.
But when I launch the roslaunch master_simulation rvo_turtlebot_gazebo2.launch --screen
file, it occurred the following error:
[ERROR] [1598336669.268863685]: Failed to load nodelet [/agent1/cmd_vel_mux] of type [yocs_cmd_vel_mux/CmdVelMuxNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image kobuki_bumper2pc/Bumper2PcNodelet kobuki_controller_tutorial/BumpBlinkControllerNodelet kobuki_random_walker/RandomWalkerControllerNodelet kobuki_safety_controller/SafetyControllerNodelet nodelet_tutorial_math/Plus obstacle_detector/ObstacleExtractor obstacle_detector/ObstaclePublisher obstacle_detector/ObstacleTracker obstacle_detector/ScansMerger pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory stereo_image_proc/disparity stereo_image_proc/point_cloud2
[ERROR] [1598336669.269271756]: The error before refreshing the cache was: According to the loaded plugin descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image kobuki_bumper2pc/Bumper2PcNodelet kobuki_controller_tutorial/BumpBlinkControllerNodelet kobuki_random_walker/RandomWalkerControllerNodelet kobuki_safety_controller/SafetyControllerNodelet nodelet_tutorial_math/Plus obstacle_detector/ObstacleExtractor obstacle_detector/ObstaclePublisher obstacle_detector/ObstacleTracker obstacle_detector/ScansMerger pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory stereo_image_proc/disparity stereo_image_proc/point_cloud2
[FATAL] [1598336669.279432815]: Failed to load nodelet '/agent1/cmd_vel_mux of type yocs_cmd_vel_mux/CmdVelMuxNodelet to manager mobile_base_nodelet_manager'
process[agent2/robot_state_publisher-14]: started with pid [4574]
[ INFO] [1598336669.311755614]: Loading nodelet /agent2/cmd_vel_mux of type yocs_cmd_vel_mux/CmdVelMuxNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1598336669.311891304]: Bumper/cliff pointcloud configured at distance 0.240000 and height 0.040000 from base frame
[ INFO] [1598336669.314443023]: /agent2/cmd_vel_mux/output -> /agent2/mobile_base/commands/velocity
process[agent2/trans2robot-15]: started with pid [4580]
[ INFO] [1598336669.330981876]: waitForService: Service [/agent2/mobile_base_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1598336669.345171939]: Initializing nodelet with 8 worker threads.
[ INFO] [1598336669.346254930]: Loading nodelet /agent2/bumper2pointcloud of type kobuki_bumper2pc/Bumper2PcNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1598336669.348257025]: /agent2/bumper2pointcloud/core_sensors -> /agent2/mobile_base/sensors/core
[ INFO] [1598336669.348304890]: /agent2/bumper2pointcloud/pointcloud -> /agent2/mobile_base/sensors/bumper_pointcloud
[ INFO] [1598336669.355909297]: waitForService: Service [/agent2/mobile_base_nodelet_manager/load_nodelet] is now available.
Configure completely
[ INFO] [1598336669.394447580]: Bumper/cliff pointcloud configured at distance 0.240000 and height 0.040000 from base frame
[ERROR] [1598336669.440041852]: Failed to load nodelet [/agent2/cmd_vel_mux] of type [yocs_cmd_vel_mux/CmdVelMuxNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image kobuki_bumper2pc/Bumper2PcNodelet kobuki_controller_tutorial/BumpBlinkControllerNodelet kobuki_random_walker/RandomWalkerControllerNodelet kobuki_safety_controller/SafetyControllerNodelet nodelet_tutorial_math/Plus obstacle_detector/ObstacleExtractor obstacle_detector/ObstaclePublisher obstacle_detector/ObstacleTracker obstacle_detector/ScansMerger pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory stereo_image_proc/disparity stereo_image_proc/point_cloud2
[ERROR] [1598336669.441213624]: The error before refreshing the cache was: According to the loaded plugin descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image kobuki_bumper2pc/Bumper2PcNodelet kobuki_controller_tutorial/BumpBlinkControllerNodelet kobuki_random_walker/RandomWalkerControllerNodelet kobuki_safety_controller/SafetyControllerNodelet nodelet_tutorial_math/Plus obstacle_detector/ObstacleExtractor obstacle_detector/ObstaclePublisher obstacle_detector/ObstacleTracker obstacle_detector/ScansMerger pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory stereo_image_proc/disparity stereo_image_proc/point_cloud2
[FATAL] [1598336669.442119755]: Failed to load nodelet '/agent2/cmd_vel_mux of type yocs_cmd_vel_mux/CmdVelMuxNodelet to manager mobile_base_nodelet_manager
[agent1/cmd_vel_mux-6] process has died [pid 4522, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager cmd_vel_mux/output:=mobile_base/commands/velocity __name:=cmd_vel_mux __log:=/home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent1-cmd_vel_mux-6.log].
log file: /home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent1-cmd_vel_mux-6*.log
[agent2/cmd_vel_mux-12] process has died [pid 4561, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager cmd_vel_mux/output:=mobile_base/commands/velocity __name:=cmd_vel_mux __log:=/home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent2-cmd_vel_mux-12.log].
log file: /home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent2-cmd_vel_mux-12*.log
Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Wrn] [GuiIface.cc:199] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin
[ INFO] [1598336669.894537932]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1598336669.896274485]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.55.27
[ INFO] [1598336670.008366279]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[ INFO] [1598336670.017726354]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.55.27
[INFO] [1598336670.325306, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1598336670.340387, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1598336670.354906, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1598336670.372754, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1598336670.569335254]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1598336670.640348938, 24.423000000]: Physics dynamic reconfigure ready.
[INFO] [1598336670.667423, 24.758000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1598336670.680927, 24.883000]: Calling service /gazebo/spawn_urdf_model
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[ INFO] [1598336671.041201091, 25.063000000]: Camera Plugin: Using the 'robotNamespace' param: '/agent2/'
[ INFO] [1598336671.043855179, 25.063000000]: Camera Plugin (ns = /agent2/) <tf_prefix_>, set to "/agent2"
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[INFO] [1598336671.110298, 25.063000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1598336671.111610, 25.063000]: Unpausing physics
[ INFO] [1598336671.128199120, 25.063000000]: Starting plugin Kobuki(ns = /agent2//)
[ WARN] [1598336671.128310478, 25.063000000]: Kobuki(ns = /agent2//): missing <rosDebugLevel> default is na
[ INFO] [1598336671.128802046, 25.063000000]: Kobuki(ns = /agent2//): <tf_prefix> = /agent2
[ WARN] [1598336671.129575003, 25.063000000]: Kobuki(ns = /agent2//): missing <update_rate> default is 0
[Dbg] [gazebo_ros_kobuki.cpp:64] Plugin model name: agent2
[ INFO] [1598336671.129838474, 25.063000000]: Will publish tf. [agent2]
[ INFO] [1598336671.134182985, 25.063000000]: Kobuki(ns = /agent2//): Advertise joint_states[joint_states]!
[ INFO] [1598336671.136428678, 25.063000000]: Kobuki(ns = /agent2//): Advertise Odometry[odom]!
[ INFO] [1598336671.140954301, 25.063000000]: Kobuki(ns = /agent2//): Try to subscribe to mobile_base/commands/motor_power!
[ INFO] [1598336671.144471883, 25.063000000]: Kobuki(ns = /agent2//): Try to subscribe to mobile_base/commands/reset_odometry!
[ INFO] [1598336671.147930736, 25.063000000]: Kobuki(ns = /agent2//): Try to subscribe to mobile_base/commands/velocity!
[ INFO] [1598336671.149945208, 25.063000000]: Kobuki(ns = /agent2//): Advertise Cliff[mobile_base/events/cliff]!
[ INFO] [1598336671.151609605, 25.063000000]: Kobuki(ns = /agent2//): Advertise Bumper[mobile_base/events/bumper]!
[ INFO] [1598336671.153547128, 25.063000000]: Kobuki(ns = /agent2//): Advertise IMU[mobile_base/sensors/imu_data]!
[ INFO] [1598336671.153681771, 25.063000000]: GazeboRosKobuki plugin ready to go! [agent2]
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[ INFO] [1598336671.561872653, 27.268000000]: Camera Plugin: Using the 'robotNamespace' param: '/agent1/'
[ INFO] [1598336671.579567753, 27.268000000]: Camera Plugin (ns = /agent1/) <tf_prefix_>, set to "/agent1"
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[INFO] [1598336671.617412, 27.268000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1598336671.624905, 27.268000]: Unpausing physics
[ INFO] [1598336671.719040070, 27.268000000]: Starting plugin Kobuki(ns = /agent1//)
[ WARN] [1598336671.719123283, 27.268000000]: Kobuki(ns = /agent1//): missing <rosDebugLevel> default is na
[ INFO] [1598336671.719893377, 27.268000000]: Kobuki(ns = /agent1//): <tf_prefix> = /agent1
[ WARN] [1598336671.719996586, 27.268000000]: Kobuki(ns = /agent1//): missing <update_rate> default is 0
[Dbg] [gazebo_ros_kobuki.cpp:64] Plugin model name: agent1
[ INFO] [1598336671.720119393, 27.268000000]: Will publish tf. [agent1]
[ INFO] [1598336671.722367408, 27.268000000]: Kobuki(ns = /agent1//): Advertise joint_states[joint_states]!
[ INFO] [1598336671.722975189, 27.268000000]: Kobuki(ns = /agent1//): Advertise Odometry[odom]!
[ INFO] [1598336671.726462332, 27.268000000]: Kobuki(ns = /agent1//): Try to subscribe to mobile_base/commands/motor_power!
[ INFO] [1598336671.728834147, 27.268000000]: Kobuki(ns = /agent1//): Try to subscribe to mobile_base/commands/reset_odometry!
[ INFO] [1598336671.733376427, 27.268000000]: Kobuki(ns = /agent1//): Try to subscribe to mobile_base/commands/velocity!
[ INFO] [1598336671.736375614, 27.268000000]: Kobuki(ns = /agent1//): Advertise Cliff[mobile_base/events/cliff]!
[ INFO] [1598336671.739653708, 27.268000000]: Kobuki(ns = /agent1//): Advertise Bumper[mobile_base/events/bumper]!
[ INFO] [1598336671.741120597, 27.268000000]: Kobuki(ns = /agent1//): Advertise IMU[mobile_base/sensors/imu_data]!
[ INFO] [1598336671.741186058, 27.268000000]: GazeboRosKobuki plugin ready to go! [agent1]
[agent2/spawn_turtlebot_model-10] process has finished cleanly
log file: /home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent2-spawn_turtlebot_model-10*.log
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Err] [REST.cc:205] Error in REST request
libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
[agent1/spawn_turtlebot_model-4] process has finished cleanly
log file: /home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent1-spawn_turtlebot_model-4*.log
In this reason, I suspected robot doesn't receive cmd_vel.
Hello and HI!
I have downloaded your code for this project and tried to compile them.
When I compile only this subdirectory (master_multirobot), it compiles perfectly fine.
But when I tried to compile them with "https://github.com/hanruihua/rvo_ros.git" or ORCA Path planning, somehow cmake show errors as below:
CMake Error at rvo_ros/simulation/plugins/CMakeLists.txt:6 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libconsole_bridge.so" to target "multi_obs"
which is not built in this directory.
Did missing something from your steps?
Hi, this is a very great project. Thank you for sharing.
By the way, I come across a problem when I start the gazebo simulation. When I start "roslaunch master_simulation rvo_turtlebot_gazebo.launch" and the result:
unused args [ROBOT_INITIAL_POSE, model] for include of [/opt/ros/kinetic/share/turtlebot_gazebo/launch/includes/kobuki.launch.xml]
Can you tell me how to solve this problem. Thanks a lot.
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