AIS_lizhi 发表于 2023-4-3 17:31:56

执行pure3d_navigation.launch出现错误

本帖最后由 AIS_lizhi 于 2023-4-3 17:33 编辑

ubuntu系统:20.04
环境是自己搭建的
可以正常运行pure3d_mapping.launch,但导航是出错:
①提示信息矩阵不对称
②进程终止




AIS_lizhi 发表于 2023-4-3 17:37:29

错误见图片

WHEELTEC_WU 发表于 2023-4-4 09:03:11

AIS_lizhi 发表于 2023-4-3 17:37
错误见图片

您是否修改过协方差参数呢
第一个报错应该不影响功能使用的,您可以测试下是否影响
第二个报错一般是供电不稳定导致的,可以检查下电量是否偏低,小车不能低于10V,大车不能低于20V;另外可以检查下供电是否稳定

AIS_lizhi 发表于 2023-4-4 19:35:44

WHEELTEC_WU 发表于 2023-4-4 09:03
您是否修改过协方差参数呢
第一个报错应该不影响功能使用的,您可以测试下是否影响
第二个报错一般是供 ...

您好,没有改过协方差参数

AIS_lizhi 发表于 2023-4-5 14:56:47

WHEELTEC_WU 发表于 2023-4-4 09:03
您是否修改过协方差参数呢
第一个报错应该不影响功能使用的,您可以测试下是否影响
第二个报错一般是供 ...

您好,检查了一下电压如图,但是仍旧会报第二个错误。
data:image/png;base64,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


AIS_lizhi 发表于 2023-4-5 14:57:14

AIS_lizhi 发表于 2023-4-5 14:56
您好,检查了一下电压如图,但是仍旧会报第二个错误。

满足要求的电压

WHEELTEC_WU 发表于 2023-4-6 11:37:24

抱歉发错了,第二个报错是rtabmap版本不一致问题
      1.检查rtabmap版本命令:sudo nano /opt/ros/melodic/share/rtabmap_ros/package.xml
      分别在ssh登录后的小车端和本地端运行以上命令,对比两者rtabmap版本是否一致
      2.如果不一致,联网更新低版本的rtabmap,更新命令:sudo apt-get install ros-melodic-rtabmap*
第一个报错,确认下,不影响功能使用就不用管

AIS_lizhi 发表于 2023-4-6 11:47:19

WHEELTEC_WU 发表于 2023-4-6 11:37
抱歉发错了,第二个报错是rtabmap版本不一致问题
      1.检查rtabmap版本命令:sudo nano /opt/ros/mel ...

您好,rtabmap版本是一致的
页: [1]
查看完整版本: 执行pure3d_navigation.launch出现错误