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View Code? Open in Web Editor NEWBezier Trajectory Generation for Autonomous Quadrotor, ICRA 2018
Bezier Trajectory Generation for Autonomous Quadrotor, ICRA 2018
when I compile the Package Bteaj, error:
/usr/bin/ld: skipping incompatible /home/nvidia/catkin_wsu/src/Btraj/third_party/mosek/lib/mosek8_1/libmosek64.so when searching for -lmosek64
/usr/bin/ld: cannot find -lmosek64
/usr/bin/ld: skipping incompatible /home/nvidia/catkin_wsu/src/Btraj/third_party/mosek/lib/mosek8_1/libmosek64.so when searching for -lmosek64
/usr/bin/ld: cannot find -lmosek64
collect2: error: ld returned 1 exit status
Btraj/CMakeFiles/b_traj_node.dir/build.make:579: recipe for target '/home/nvidia/catkin_wsu/devel/lib/bezier_planer/b_traj_node' failed
make[2]: *** [/home/nvidia/catkin_wsu/devel/lib/bezier_planer/b_traj_node] Error 1
CMakeFiles/Makefile2:2672: recipe for target 'Btraj/CMakeFiles/b_traj_node.dir/all' failed
make[1]: *** [Btraj/CMakeFiles/b_traj_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j6 -l6" failed
When trying to compile Btraj, I am getting the following compiler error:
In file included from /home/ohrad/catkin_ws/src/Btraj/third_party/sdf_tools/include/sdf_tools/collision_map.hpp:14:0,
from /home/ohrad/catkin_ws/src/Btraj/include/a_star.h:9,
from /home/ohrad/catkin_ws/src/Btraj/src/a_star.cpp:1:
/home/ohrad/catkin_ws/src/Btraj/third_party/sdf_tools/include/sdf_tools/sdf.hpp: In member function ‘double sdf_tools::SignedDistanceField::EstimateDistanceInternal(double, double, double, int64_t, int64_t, int64_t) const’:
/home/ohrad/catkin_ws/src/Btraj/third_party/sdf_tools/include/sdf_tools/sdf.hpp:435:89: error: operands to ?: have different types ‘const ScalarMultipleReturnType {aka const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op, const Eigen::Matrix<double, 3, 1> >}’ and ‘const Vector3d {aka const Eigen::Matrix<double, 3, 1>}’
const Eigen::Vector3d direction_to_boundary = (nominal_sdf_distance >= 0.0) ? -gradient : gradient;
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
/home/ohrad/catkin_ws/src/Btraj/third_party/sdf_tools/include/sdf_tools/sdf.hpp:435:89: note: and each type can be converted to the other
I see that there is a TODO note related to gradient and I am wondering if that is related.
Removing the negative sign in front of gradient fixes this compile error, but this does not seem like the proper fix.
Linking CXX executable /home/chong/bezier_pathplan/devel/lib/bezier_planer/b_traj_node
/usr/bin/ld:/home/chong/bezier_pathplan/src/Btraj/third_party/mosek/lib/mosek8_1/libmosek64.so: file format not recognized; treating as linker script
/usr/bin/ld:/home/chong/bezier_pathplan/src/Btraj/third_party/mosek/lib/mosek8_1/libmosek64.so:1: syntax error
collect2: error: ld returned 1 exit status
Btraj/CMakeFiles/b_traj_node.dir/build.make:579: recipe for target '/home/chong/bezier_pathplan/devel/lib/bezier_planer/b_traj_node' failed
make[2]: *** [/home/chong/bezier_pathplan/devel/lib/bezier_planer/b_traj_node] Error 1
CMakeFiles/Makefile2:2672: recipe for target 'Btraj/CMakeFiles/b_traj_node.dir/all' failed
make[1]: *** [Btraj/CMakeFiles/b_traj_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
Hi, When I was reading the source code of traj_erver.cpp in Btraj, I encountered some problems,
What do these numbers mean and why choose these number as pos_gain and vel_gain? Can I replace them with other numbers?
double pos_gain[3] = {5.7, 5.7, 6.2};
double vel_gain[3] = {3.4, 3.4, 4.0};
In your repo, there are no required msgs, the repo cannot be even compiled successfully.
Hi
My test environment: Ubuntu 18.04, ROS melodic.
I follow the Btraj readme configuration steps as follows :
1. install armadillo
2. sudo apt-get install libarmadillo-dev
cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/plan_utils.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/Btraj.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
4. roslaunch bezier_planer simulation.launch
It made the following errors,:
Who can help me to see what's reason?
Hello~
I found a small bug in random_forest_sensing.cpp
Btraj/src/random_forest_sensing.cpp
Line 67 in 5686ded
Btraj/src/random_forest_sensing.cpp
Line 77 in 5686ded
I have a problem with the coefficients in the end state constraint.
Specificly, I think the coefficient in Btraj/src/trajectory_generator.cpp should be as follows:
line 301-302
aval[0] = - 1.0 * traj_order;
aval[1] = 1.0 * traj_order;
line 315-318
aval[0] = 1.0 * traj_order * (traj_order - 1) / lstScale;
aval[1] = - 2.0 * traj_order * (traj_order - 1) / lstScale;
aval[2] = 1.0 * traj_order * (traj_order - 1) / lstScale;
Dear All
First all thank you for sharing this nice piece of work!
While compiling btraj i am not able to generate SDH.h. I am able to generate SDH.h if I compile arc_utilities and sdf_tools in a separate catkin ws. If I add arc_utilities in third_party it failed always...
Is it normal that you did not add arc_utilities in third_party?
Besides in the package.xml there are still dependancies with moveit packages which are not used it here
Thank you for your support
Best regards
Hi Gao,
It seems something wrong happened with catkin_make, would you mind helping me fix it?
All the best wishes,
make[2]: *** [Btraj/third_party/sdf_tools/CMakeFiles/sdf_tools.dir/src/sdf_tools/sdf.cpp.o] 错误 1
make[2]: *** 正在等待未完成的任务....
make[2]: *** [Btraj/third_party/sdf_tools/CMakeFiles/sdf_tools.dir/src/sdf_tools/dynamic_spatial_hashed_collision_map.cpp.o] 错误 1
make[2]: *** [Btraj/third_party/sdf_tools/CMakeFiles/sdf_tools.dir/src/sdf_tools/collision_map.cpp.o] 错误 1
make[1]: *** [Btraj/third_party/sdf_tools/CMakeFiles/sdf_tools.dir/all] 错误 2
make: *** [all] 错误 2
Invoking "make -j12 -l12" failed
Greatwork actually and I would like to ask you why did you choose Mosek to solve the quadratic optimization problem? It can be solved using Ceres solver as well no?
Thank you
Hi, when I read the code in bezier_base.cpp, I got some questions in MatrixXd M.
In the branch of case, when the order is 1 or 2 or 3, why the (0,0) element is -1? I thought they were maybe 1, or did you have any more considerations? Thanks:)
Your code are very excellent!
How to test Btraj with Open quadtree mapping?
hi, I add a 3D Nav Goal in rviz according to the USAGE steps, but failed.
what should i do to trigger a path planning?
THX!
[ WARN] [1648127184.733786197]: Finished generate random map
[ WARN] [1648127185.147689826]: WARNING: package://odom_visualization/meshes/hummingbird.mesh is an older format ([MeshSerializer_v1.41]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
[ WARN] [1648127185.147961636]: Can't assign material missing_material to SubEntity of mesh_resource_marker_0 because this Material does not exist. Have you forgotten to define it in a .material script?
[ WARN] [1648127210.794698700]: 3D Goal Set
[ WARN] [1648127210.797453307]: [waypoint_generator] invalid goal in manual-lonely-waypoint mode.
[ WARN] [1648127225.605172688]: 3D Goal Set
[ WARN] [1648127225.605944921]: [waypoint_generator] invalid goal in manual-lonely-waypoint mode.
[ WARN] [1648127293.667733249]: 3D Goal Set
[ WARN] [1648127293.668879180]: [waypoint_generator] invalid goal in manual-lonely-waypoint mode.
i want to run you code and don't modify the code. But after catkin_make without error ,in rviz, it shows that Robot status error for frame [world] does not exist. don't konw how to resolve it . thank you.
when i am compiling the pkg,it turns out with:
fatal error: sdf_tools/SDF.h: No such file or directory compilation terminated.
what should i do?
It seems that ndims_ here is 3.
And d_ is declared with size of 2.
However, d_[2] is initialized and used in folliwing codes.
It works but is still very dangerous.
Is this a typo?
Line 600 in 5686ded
Hi Gao,
It seems something wrong with catkin_make,Would you mind helping me fix it ?
thanks a lot.
(I test it on Ubuntu 16.04)
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by "quadrotor_msgs"
with any of the following names:
quadrotor_msgsConfig.cmake
quadrotor_msgs-config.cmake
Add the installation prefix of "quadrotor_msgs" to CMAKE_PREFIX_PATH or set
"quadrotor_msgs_DIR" to a directory containing one of the above files. If
"quadrotor_msgs" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
Btraj-master/CMakeLists.txt:6 (find_package)
-- Could not find the required component 'quadrotor_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "quadrotor_msgs"
with any of the following names:
quadrotor_msgsConfig.cmake
quadrotor_msgs-config.cmake
Add the installation prefix of "quadrotor_msgs" to CMAKE_PREFIX_PATH or set
"quadrotor_msgs_DIR" to a directory containing one of the above files. If
"quadrotor_msgs" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
Btraj-master/CMakeLists.txt:6 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/zhouwei/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/zhouwei/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
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