The SRL_GLOBAL_PLANNER package provides an implementation of the sampling based motion planners (RRT, RGG, RRT*, Theta*-RRT) as global planner plugin for Move-base, a ROS framework
License: BSD 3-Clause "New" or "Revised" License
I am using ROS Noetic move_base for navigation of a quadcopter in gazebo. I wanted to use the srl_global_planner. I git cloned the srl_global _planner and also the spencer_messages package into my src. But my catkin build fails with this error Could not find a package configuration file provided by "spencer_nav_msgs"
with any of the following names:
spencer_nav_msgsConfig.cmake
spencer_nav_msgs-config.cmake
I checked the github issues https://githubmemory.com/repo/srl-freiburg/srl_rhcf_planner/issues/4 but even this does not work.
Can you please help me?
hi:
I follow the readme and install srl_global_planner with 'catkin_make'. There is an error with no member and how can i fix it?
[ 20%] Building CXX object srl_planner/srl_global_planner/CMakeFiles/srl_global_planner.dir/src/srl_global_planner.cpp.o
[ 20%] Built target tag_node
/home/cxy/catkin_ws/src/srl_planner/srl_global_planner/src/srl_global_planner.cpp: In member function ‘virtual void srl_global_planner::Srl_global_planner::initialize(std::string, costmap_2d::Costmap2DROS*)’:
/home/cxy/catkin_ws/src/srl_planner/srl_global_planner/src/srl_global_planner.cpp:2366:34: error: ‘class costmap_2d::Costmap2DROS’ has no member named ‘getTransformListener’
listener = costmap_ros_->getTransformListener();
^
make[2]: *** [srl_planner/srl_global_planner/CMakeFiles/srl_global_planner.dir/src/srl_global_planner.cpp.o] Error 1
make[1]: *** [srl_planner/srl_global_planner/CMakeFiles/srl_global_planner.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
I have seen the closed issues and someone also ask this question, and i don't kown what kind of tf_listener shall we set to avoid the problem:
listener = costmap_ros_->getTransformListener();
Thank you a lot
Hi!
When I tried to catkin_make the pkg, it simply pops up this error message every time. I tried moving"costmap_2d" file outside of the workspace, look into SMP to see if that's the source of the problem, creating a brand new workspace, but the problem persists. I already checked that I have
My colleague can successfully catkin_make the package, while I failed in both of my computers. What is the problem and how should I resolve it?
And the complete make and error message:
[ 0%] [ 14%] Built target visualization_msgs_generate_messages_lisp
Built target SRLGLOBALPLANNER_KDTREE_LIB
[ 14%] [ 14%] [ 14%] [ 14%] [ 14%] [ 14%] Built target geometry_msgs_generate_messages_cpp
Built target costmap_2d_generate_messages_py
Built target visualization_msgs_generate_messages_py
Built target geometry_msgs_generate_messages_lisp
Built target geometry_msgs_generate_messages_py
Built target map_msgs_generate_messages_cpp
[ 14%] [ 14%] [ 14%] [ 14%] [ 14%] [ 14%] Built target map_msgs_generate_messages_lisp
Built target sensor_msgs_generate_messages_lisp
Built target roscpp_generate_messages_cpp
Built target tf_generate_messages_cpp
Built target actionlib_generate_messages_cpp
Built target tf_generate_messages_lisp
[ 14%] [ 14%] Built target actionlib_generate_messages_lisp
Built target actionlib_generate_messages_py
[ 14%] [ 14%] [ 14%] Built target rosgraph_msgs_generate_messages_cpp
Built target tf_generate_messages_py
Built target std_msgs_generate_messages_lisp
[ 14%] [ 14%] Built target actionlib_msgs_generate_messages_cpp
Built target std_msgs_generate_messages_cpp
[ 14%] [ 14%] [ 14%] Built target roscpp_generate_messages_py
Built target roscpp_generate_messages_lisp
Built target std_msgs_generate_messages_py
[ 14%] Built target costmap_2d_generate_messages_cpp
[ 14%] [ 14%] [ 14%] [ 14%] [ 14%] [ 14%] Built target dynamic_reconfigure_generate_messages_py
Built target dynamic_reconfigure_generate_messages_lisp
Built target sensor_msgs_generate_messages_py
Built target dynamic_reconfigure_generate_messages_cpp
[ 14%] Built target sensor_msgs_generate_messages_cpp
Built target rosgraph_msgs_generate_messages_lisp
Built target rosgraph_msgs_generate_messages_py
[ 14%] Built target tf2_msgs_generate_messages_cpp
[ 14%] [ 14%] [ 14%] [ 14%] [ 14%] Built target tf2_msgs_generate_messages_py
Built target costmap_2d_generate_messages_lisp
Built target actionlib_msgs_generate_messages_lisp
Built target dynamic_reconfigure_gencfg
Built target map_msgs_generate_messages_py
[ 14%] [ 14%] Built target nav_msgs_generate_messages_cpp
Built target actionlib_msgs_generate_messages_py
[ 14%] [ 14%] Built target nodelet_generate_messages_cpp
Built target costmap_2d_gencfg
[ 14%] [ 14%] [ 14%] [ 14%] Built target nodelet_generate_messages_lisp
Built target pcl_msgs_generate_messages_lisp
Built target tf2_msgs_generate_messages_lisp
Built target nav_msgs_generate_messages_lisp
[ 14%] [ 14%] Built target pcl_ros_gencfg
Built target nodelet_generate_messages_py
[ 14%] [ 14%] Built target visualization_msgs_generate_messages_cpp
Built target nav_msgs_generate_messages_py
[ 14%] Built target pcl_msgs_generate_messages_py
[ 14%] [ 14%] [ 14%] Built target bond_generate_messages_cpp
Built target bond_generate_messages_lisp
[ 14%] Built target bond_generate_messages_py
Built target topic_tools_generate_messages_py
[ 14%] [ 14%] [ 14%] Built target pcl_msgs_generate_messages_cpp
Built target topic_tools_generate_messages_cpp
Built target topic_tools_generate_messages_lisp
[ 28%] Building CXX object srl_global_planner/CMakeFiles/srl_global_planner.dir/src/srl_global_planner.cpp.o
In file included from /home/charly/indigo_ws2/src/srl_global_planner/include/srl_global_planner/srl_global_planner.h:75:0,
from /home/charly/indigo_ws2/src/srl_global_planner/src/srl_global_planner.cpp:1:
/home/charly/indigo_ws2/src/srl_global_planner/include/smp/components/collision_checkers/collisionCostMap.hpp: In member function ‘int smp::collision_checker_costmap<typeparams, NUM_DIMENSIONS>::check_collision_state(smp::collision_checker_costmap<typeparams, NUM_DIMENSIONS>::state_t*)’:
/home/charly/indigo_ws2/src/srl_global_planner/include/smp/components/collision_checkers/collisionCostMap.hpp:155:82: error: no matching function for call to ‘costmap_2d::Costmap2DROS::getOrientedFootprint(double&, double&, double&, std::vector<geometry_msgs::Point_<std::allocator<void> > >&)’
costmap_ros_->getOrientedFootprint(x_bot , y_bot , orient_bot, footprint_spec);
^
/home/charly/indigo_ws2/src/srl_global_planner/include/smp/components/collision_checkers/collisionCostMap.hpp:155:82: note: candidate is:
In file included from /home/charly/indigo_ws2/src/srl_global_planner/include/srl_global_planner/costmap_model.h:43:0,
from /home/charly/indigo_ws2/src/srl_global_planner/include/srl_global_planner/thetastar_leading_rrt.h:4,
from /home/charly/indigo_ws2/src/srl_global_planner/include/srl_global_planner/srl_global_planner.h:14,
from /home/charly/indigo_ws2/src/srl_global_planner/src/srl_global_planner.cpp:1:
/opt/ros/indigo/include/costmap_2d/costmap_2d_ros.h:190:8: note: void costmap_2d::Costmap2DROS::getOrientedFootprint(std::vector<geometry_msgs::Point_<std::allocator<void> > >&) const
void getOrientedFootprint(std::vector<geometry_msgs::Point>& oriented_footprint) const;
^
/opt/ros/indigo/include/costmap_2d/costmap_2d_ros.h:190:8: note: candidate expects 1 argument, 4 provided
In file included from /home/charly/indigo_ws2/src/srl_global_planner/include/srl_global_planner/srl_global_planner.h:79:0,
from /home/charly/indigo_ws2/src/srl_global_planner/src/srl_global_planner.cpp:1:
/home/charly/indigo_ws2/src/srl_global_planner/include/smp/components/multipurpose/minimum_time_reachability_thetastar.hpp: In member function ‘int smp::minimum_time_reachability<typeparams, NUM_DIMENSIONS>::getCostFromMap(double, double, double)’:
/home/charly/indigo_ws2/src/srl_global_planner/include/smp/components/multipurpose/minimum_time_reachability_thetastar.hpp:127:82: error: no matching function for call to ‘costmap_2d::Costmap2DROS::getOrientedFootprint(double&, double&, double&, std::vector<geometry_msgs::Point_<std::allocator<void> > >&)’
costmap_ros_->getOrientedFootprint(x_bot , y_bot , orient_bot, footprint_spec);
^
/home/charly/indigo_ws2/src/srl_global_planner/include/smp/components/multipurpose/minimum_time_reachability_thetastar.hpp:127:82: note: candidate is:
In file included from /home/charly/indigo_ws2/src/srl_global_planner/include/srl_global_planner/costmap_model.h:43:0,
from /home/charly/indigo_ws2/src/srl_global_planner/include/srl_global_planner/thetastar_leading_rrt.h:4,
from /home/charly/indigo_ws2/src/srl_global_planner/include/srl_global_planner/srl_global_planner.h:14,
from /home/charly/indigo_ws2/src/srl_global_planner/src/srl_global_planner.cpp:1:
/opt/ros/indigo/include/costmap_2d/costmap_2d_ros.h:190:8: note: void costmap_2d::Costmap2DROS::getOrientedFootprint(std::vector<geometry_msgs::Point_<std::allocator<void> > >&) const
void getOrientedFootprint(std::vector<geometry_msgs::Point>& oriented_footprint) const;
^
/opt/ros/indigo/include/costmap_2d/costmap_2d_ros.h:190:8: note: candidate expects 1 argument, 4 provided
make[2]: *** [srl_global_planner/CMakeFiles/srl_global_planner.dir/src/srl_global_planner.cpp.o] Error 1
make[1]: *** [srl_global_planner/CMakeFiles/srl_global_planner.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
Thank you so much in advance !!
Hi guys,
I am using ROS Hydro and I already have generated an Occupancy Grid (attached Screencap) and I used this repo https://github.com/clearpathrobotics/occupancy_grid_utils for visualizing the OGM. I want to take this as an input and run a graph search algorithm to generate a path to go from pre-defined start position to pre-defined goal position but the path must only be in the free space of the occupancy grid. How can i use your code to achieve this ?
P.S. I am not using move_base to send my goals.
Hi,
Thanks a lot for contributing this open source file!
We cannot find the following message files:
spencer_tracking_msgs
spencer_nav_msgs
spencer_control_msgs
Could you provide some help?
Thanks a lot!
I am very appreciate that share the code on the github. But I have some problems when I set a goal that have a bit long distance from the start point. It take so much time to compute a path, almost 1 min and then robot is into the robot recovery status and rotate in place. What should I do to avoid it? Please help me.
I am trying to launch srl_global_planner but here are many spencer project packages that are required like spencer_tracking_utils, social_compliance_layer and spencer_navigation.
I was able to find the first two on github but couldn't find spencer_navigation. As a workaround I changed the launch file to use analogous files from the srl_global_planner instead. But launching after that gives more errors and warnings.
Is there any repository with the required spencer packages? Any help will be much appreciated
Hi,
Recently, I git clone your package and catkin_make it, but it is always failed. The error is as follow, please help me to check it!
I'm looking forward to your response,
Thank you very much！
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