uuv_simulator_reading

Features--jupyter notebooks

Cubic Bézier curves - Unmanned Underwater Vehicle Simulator Documentation

    segments, tangents = BezierCurve.generate_cubic_curve(q)

ValueError: too many values to unpack

2D Dubins path algorithm - Unmanned Underwater Vehicle Simulator Documentation

('in c1:', [SX(7.28298), SX(9.63034)], [SX(0.423319), SX(-3.99142)], <class 'casadi.casadi.SX'>, '\n', SX([7.28298, 0.423319]))

  ax.plot([c1[0], c1[0] + t1[0]],    [c1[1], c1[1] + t1[1]], 'k')

RuntimeError: .../casadi/core/slice.cpp:70: Assertion "stop<=len" failed:

Slice (start=1, stop=2, step=1) out of bounds with supplied length of 1

C1[1]越界？

在此代码前添加，如下两行代码，可以消除上述的错误。

        c1=[float(c1[0]),float(c1[1])]

        t1=[float(t1[0]),float(t1[1])]

    from uuv_trajectory_generator import HelicalSegment

ImportError: cannot import name HelicalSegment

create_new_vehicle

Create new vehicle - Unmanned Underwater Vehicle Simulator Documentation

执行下列指令，遇到错误

$ rosrun uuv_assistants create_new_robot_model --robot_name uuvtest23

Traceback (most recent call last):

  File "/opt/ros/kinetic/lib/uuv_assistants/create_new_robot_model", line 59, in <module>

    for d in os.listdir(template_path):

OSError: [Errno 2] No such file or directory: '/opt/ros/kinetic/share/uuv_assistants/templates/robot_model'

解决方法：

uuv_simulator/uuv_assistants$ sudo cp -rf templates/ /opt/ros/kinetic/share/uuv_assistants/