PaddleLite编译Python版本:找到无效参数的FIND_PACKAGE或无法找到与PCL完全匹配的标签

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本文介绍了在编译PaddleLite时可能遇到的两个问题:FIND_PACKAGE调用时使用无效参数和无法找到与PCL完全匹配的标签。针对这些问题,提供了检查参数正确性、匹配系统库配置以及确认PCL版本的解决方案。

PaddleLite是一个基于飞桨(PaddlePaddle)的轻量级推理引擎,用于在移动设备和嵌入式设备上部署深度学习模型。在使用PaddleLite时,有时您可能会遇到一些编译错误或依赖问题。本文将讨论两个常见问题:FIND_PACKAGE调用时使用无效参数和无法找到与PCL完全匹配的标签。

  1. FIND_PACKAGE调用时使用无效参数

FIND_PACKAGE是CMake中用于查找和加载外部依赖库的命令。在PaddleLite中,它用于查找和加载PaddlePaddle的依赖库。然而,有时候您可能会收到类似于"FIND_PACKAGE called with invalid argument"的错误消息。

这种错误通常是由于传递给FIND_PACKAGE的参数不正确或不完整引起的。您需要确保您传递给FIND_PACKAGE的参数是正确的,并且与您系统中安装的相应库的配置匹配。

下面是一个示例代码,展示了如何使用FIND_PACKAGE来查找和加载PaddlePaddle依赖库:

cmake_minimum_required(VERSION 3.10)
project(PaddleLiteDemo)

find_package(PaddleLite REQUIRED)

add_executable(demo main.cpp)
target_link_libraries(demo PaddleLite::lite)

在上面的示例中,我们使用FIND_PACKAGE来查找PaddleLite依赖库,并将其链接到我们的可执行文件中。请注意,这里的参数"R

tao@tao:~/SLAM/ORB_SLAM3/build$ cmake .. -DCMAKE_BUILD_TYPE=Release -DOPENCV_VERSION=3.4 2>&1 | tee cmake.log CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 3.10 will be removed from a future version of CMake. Update the VERSION argument <min> value. Or, use the <min>...<max> syntax to tell CMake that the project requires at least <min> but has been updated to work with policies introduced by <max> or earlier. -- The C compiler identification is GNU 7.5.0 -- The CXX compiler identification is GNU 9.4.0 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /usr/bin/cc - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done Build type: Release -- Performing Test COMPILER_SUPPORTS_CXX11 -- Performing Test COMPILER_SUPPORTS_CXX11 - Success -- Performing Test COMPILER_SUPPORTS_CXX0X -- Performing Test COMPILER_SUPPORTS_CXX0X - Success -- Using flag -std=c++11. -- Found OpenCV: /usr/local (found suitable version "4.2.0", minimum required is "4.2") OPENCV VERSION: 4.2.0 CMake Deprecation Warning at /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:40 (cmake_policy): Compatibility with CMake < 3.10 will be removed from a future version of CMake. Update the VERSION argument <min> value. Or, use the <min>...<max> syntax to tell CMake that the project requires at least <min> but has been updated to work with policies introduced by <max> or earlier. Call Stack (most recent call first): CMakeLists.txt:41 (find_package) CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:152 (find_package): Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT variables. Run "cmake --help-policy CMP0144" for policy details. Use the cmake_policy command to set the policy and suppress this warning. CMake variable EIGEN_ROOT is set to: /usr/include/eigen3 For compatibility, find_package is ignoring the variable, but code in a .cmake module might still use it. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:316 (find_eigen) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library) CMakeLists.txt:41 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. -- Checking for module 'eigen3' -- Found eigen3, version 3.3.7 -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:134 (find_package): Policy CMP0167 is not set: The FindBoost module is removed. Run "cmake --help-policy CMP0167" for policy details. Use the cmake_policy command to set the policy and suppress this warning. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:314 (find_boost) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library) CMakeLists.txt:41 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. -- Found Boost: /usr/include (found suitable version "1.71.0", minimum required is "1.55.0") found components: system filesystem date_time iostreams regex -- Checking for module 'libusb-1.0' -- Found libusb-1.0, version 1.0.23 CMake Warning (dev) at /usr/local/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:441 (message): The package name passed to `find_package_handle_standard_args` (USB_10) does not match the name of the calling package (OpenNI). This can lead to problems in calling code that expects `find_package` result variables (e.g., `_FOUND`) to follow a certain pattern. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindOpenNI.cmake:28 (find_package_handle_standard_args) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:179 (find_package) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:322 (find_openni) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:548 (find_external_library) CMakeLists.txt:41 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. -- Found USB_10: /usr/lib/x86_64-linux-gnu/libusb-1.0.so -- Found OpenNI: /usr/lib/libOpenNI.so -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) CMake Warning (dev) at /usr/local/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:441 (message): The package name passed to `find_package_handle_standard_args` (USB_10) does not match the name of the calling package (OpenNI2). This can lead to problems in calling code that expects `find_package` result variables (e.g., `_FOUND`) to follow a certain pattern. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindOpenNI2.cmake:28 (find_package_handle_standard_args) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:193 (find_package) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:324 (find_openni2) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:548 (find_external_library) CMakeLists.txt:41 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. -- Found OpenNI2: /usr/lib/libOpenNI2.so -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) ** WARNING ** io features related to pcap will be disabled ** WARNING ** io features related to png will be disabled -- The imported target "vtkParseOGLExt" references the file "/usr/bin/vtkParseOGLExt-7.1" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtk" references the file "/usr/bin/vtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "pvtk" references the file "/usr/bin/pvtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. CMake Warning (dev) at /usr/local/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:441 (message): The package name passed to `find_package_handle_standard_args` (libusb-1.0) does not match the name of the calling package (PCL). This can lead to problems in calling code that expects `find_package` result variables (e.g., `_FOUND`) to follow a certain pattern. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:291 (find_package_handle_standard_args) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:338 (find_libusb) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:548 (find_external_library) CMakeLists.txt:41 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. -- Found libusb-1.0: /usr/include ** WARNING ** io features related to libusb-1.0 will be disabled -- looking for PCL_COMMON CMake Warning (dev) at /usr/local/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:441 (message): The package name passed to `find_package_handle_standard_args` (PCL_COMMON) does not match the name of the calling package (PCL). This can lead to problems in calling code that expects `find_package` result variables (e.g., `_FOUND`) to follow a certain pattern. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args) CMakeLists.txt:41 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so -- looking for PCL_OCTREE CMake Warning (dev) at /usr/local/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:441 (message): The package name passed to `find_package_handle_standard_args` (PCL_OCTREE) does not match the name of the calling package (PCL). This can lead to problems in calling code that expects `find_package` result variables (e.g., `_FOUND`) to follow a certain pattern. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args) CMakeLists.txt:41 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so -- looking for PCL_IO CMake Warning (dev) at /usr/local/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:441 (message): The package name passed to `find_package_handle_standard_args` (PCL_IO) does not match the name of the calling package (PCL). This can lead to problems in calling code that expects `find_package` result variables (e.g., `_FOUND`) to follow a certain pattern. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args) CMakeLists.txt:41 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so -- Found PCL: pcl_common;pcl_octree;pcl_io;/usr/local/lib/libboost_system.so;/usr/local/lib/libboost_filesystem.so;/usr/local/lib/libboost_date_time.so;/usr/local/lib/libboost_iostreams.so;/usr/local/lib/libboost_regex.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2 (Required is at least version "1.10") CMake Warning at CMakeLists.txt:44 (find_package): By not providing "Findrealsense2.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "realsense2", but CMake did not find one. Could not find a package configuration file provided by "realsense2" with any of the following names: realsense2Config.cmake realsense2-config.cmake Add the installation prefix of "realsense2" to CMAKE_PREFIX_PATH or set "realsense2_DIR" to a directory containing one of the above files. If "realsense2" provides a separate development package or SDK, be sure it has been installed. CMake Deprecation Warning at Thirdparty/g2o/CMakeLists.txt:1 (CMAKE_MINIMUM_REQUIRED): Compatibility with CMake < 3.10 will be removed from a future version of CMake. Update the VERSION argument <min> value. Or, use the <min>...<max> syntax to tell CMake that the project requires at least <min> but has been updated to work with policies introduced by <max> or earlier. -- BUILD TYPE:Release -- Compiling on Unix -- Found OpenMP_C: -fopenmp (found version "4.5") -- Found OpenMP_CXX: -fopenmp (found version "4.5") -- Found OpenMP: TRUE (found version "4.5") -- PCL_INCLUDE_DIRS = /usr/include/pcl-1.10;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu -- PCL_LIBRARIES = pcl_common;pcl_octree;pcl_io;/usr/local/lib/libboost_system.so;/usr/local/lib/libboost_filesystem.so;/usr/local/lib/libboost_date_time.so;/usr/local/lib/libboost_iostreams.so;/usr/local/lib/libboost_regex.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2 -- Configuring done (2.3s) CMake Error at CMakeLists.txt:136 (add_executable): Cannot find source file: main.cpp Tried extensions .c .C .c++ .cc .cpp .cxx .cu .mpp .m .M .mm .ixx .cppm .ccm .cxxm .c++m .h .hh .h++ .hm .hpp .hxx .in .txx .f .F .for .f77 .f90 .f95 .f03 .hip .ispc CMake Error at CMakeLists.txt:136 (add_executable): No SOURCES given to target: main CMake Generate step failed. Build files cannot be regenerated correctly. tao@tao:~/SLAM/ORB_SLAM3/build$ grep -i "error" cmake.log CMake Error at CMakeLists.txt:136 (add_executable): CMake Error at CMakeLists.txt:136 (add_executable): 第二步编译出来的结果
最新发布
10-27
annant@annant-Legion-R7000P-ARH7:~/competition_ws$ source devel/setup.bash annant@annant-Legion-R7000P-ARH7:~/competition_ws$ roslaunch plan_manage kino_replan.launch ... logging to /home/annant/.ros/log/def20c68-9839-11f0-8aea-4368951a8594/roslaunch-annant-Legion-R7000P-ARH7-6284.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://annant-Legion-R7000P-ARH7:43915/ SUMMARY ======== PARAMETERS * /fast_planner_node/bspline/limit_acc: 2.0 * /fast_planner_node/bspline/limit_ratio: 1.1 * /fast_planner_node/bspline/limit_vel: 3.0 * /fast_planner_node/fsm/flight_type: 1 * /fast_planner_node/fsm/thresh_no_replan: 2.0 * /fast_planner_node/fsm/thresh_replan: 1.5 * /fast_planner_node/fsm/waypoint0_x: 19.0 * /fast_planner_node/fsm/waypoint0_y: 0.0 * /fast_planner_node/fsm/waypoint0_z: 1.0 * /fast_planner_node/fsm/waypoint1_x: -19.0 * /fast_planner_node/fsm/waypoint1_y: 0.0 * /fast_planner_node/fsm/waypoint1_z: 1.0 * /fast_planner_node/fsm/waypoint2_x: 0.0 * /fast_planner_node/fsm/waypoint2_y: 19.0 * /fast_planner_node/fsm/waypoint2_z: 1.0 * /fast_planner_node/fsm/waypoint_num: 2 * /fast_planner_node/manager/clearance_threshold: 0.2 * /fast_planner_node/manager/control_points_distance: 0.5 * /fast_planner_node/manager/dynamic_environment: 0 * /fast_planner_node/manager/local_segment_length: 6.0 * /fast_planner_node/manager/max_acc: 2.0 * /fast_planner_node/manager/max_jerk: 4.0 * /fast_planner_node/manager/max_vel: 3.0 * /fast_planner_node/manager/use_geometric_path: False * /fast_planner_node/manager/use_kinodynamic_path: True * /fast_planner_node/manager/use_optimization: True * /fast_planner_node/manager/use_topo_path: False * /fast_planner_node/optimization/algorithm1: 15 * /fast_planner_node/optimization/algorithm2: 11 * /fast_planner_node/optimization/dist0: 0.4 * /fast_planner_node/optimization/lambda1: 10.0 * /fast_planner_node/optimization/lambda2: 5.0 * /fast_planner_node/optimization/lambda3: 1e-05 * /fast_planner_node/optimization/lambda4: 0.01 * /fast_planner_node/optimization/lambda7: 100.0 * /fast_planner_node/optimization/max_acc: 2.0 * /fast_planner_node/optimization/max_iteration_num1: 2 * /fast_planner_node/optimization/max_iteration_num2: 300 * /fast_planner_node/optimization/max_iteration_num3: 200 * /fast_planner_node/optimization/max_iteration_num4: 200 * /fast_planner_node/optimization/max_iteration_time1: 0.0001 * /fast_planner_node/optimization/max_iteration_time2: 0.005 * /fast_planner_node/optimization/max_iteration_time3: 0.003 * /fast_planner_node/optimization/max_iteration_time4: 0.003 * /fast_planner_node/optimization/max_vel: 3.0 * /fast_planner_node/optimization/order: 3 * /fast_planner_node/planner_node/planner: 1 * /fast_planner_node/sdf_map/cx: 321.04638671875 * /fast_planner_node/sdf_map/cy: 243.44969177246094 * /fast_planner_node/sdf_map/depth_filter_margin: 2 * /fast_planner_node/sdf_map/depth_filter_maxdist: 5.0 * /fast_planner_node/sdf_map/depth_filter_mindist: 0.2 * /fast_planner_node/sdf_map/depth_filter_tolerance: 0.15 * /fast_planner_node/sdf_map/esdf_slice_height: 0.3 * /fast_planner_node/sdf_map/frame_id: world * /fast_planner_node/sdf_map/fx: 387.229248046875 * /fast_planner_node/sdf_map/fy: 387.229248046875 * /fast_planner_node/sdf_map/ground_height: -1.0 * /fast_planner_node/sdf_map/k_depth_scaling_factor: 1000.0 * /fast_planner_node/sdf_map/local_bound_inflate: 0.0 * /fast_planner_node/sdf_map/local_map_margin: 50 * /fast_planner_node/sdf_map/local_update_range_x: 5.5 * /fast_planner_node/sdf_map/local_update_range_y: 5.5 * /fast_planner_node/sdf_map/local_update_range_z: 4.5 * /fast_planner_node/sdf_map/map_size_x: 40.0 * /fast_planner_node/sdf_map/map_size_y: 20.0 * /fast_planner_node/sdf_map/map_size_z: 5.0 * /fast_planner_node/sdf_map/max_ray_length: 4.5 * /fast_planner_node/sdf_map/min_ray_length: 0.5 * /fast_planner_node/sdf_map/obstacles_inflation: 0.099 * /fast_planner_node/sdf_map/p_hit: 0.65 * /fast_planner_node/sdf_map/p_max: 0.9 * /fast_planner_node/sdf_map/p_min: 0.12 * /fast_planner_node/sdf_map/p_miss: 0.35 * /fast_planner_node/sdf_map/p_occ: 0.8 * /fast_planner_node/sdf_map/pose_type: 1 * /fast_planner_node/sdf_map/resolution: 0.1 * /fast_planner_node/sdf_map/show_esdf_time: False * /fast_planner_node/sdf_map/show_occ_time: False * /fast_planner_node/sdf_map/skip_pixel: 2 * /fast_planner_node/sdf_map/use_depth_filter: True * /fast_planner_node/sdf_map/virtual_ceil_height: 2.5 * /fast_planner_node/sdf_map/visualization_truncate_height: 2.49 * /fast_planner_node/search/allocate_num: 100000 * /fast_planner_node/search/check_num: 5 * /fast_planner_node/search/horizon: 7.0 * /fast_planner_node/search/init_max_tau: 0.8 * /fast_planner_node/search/lambda_heu: 5.0 * /fast_planner_node/search/margin: 0.2 * /fast_planner_node/search/max_acc: 2.0 * /fast_planner_node/search/max_tau: 0.6 * /fast_planner_node/search/max_vel: 3.0 * /fast_planner_node/search/resolution_astar: 0.1 * /fast_planner_node/search/time_resolution: 0.8 * /fast_planner_node/search/w_time: 10.0 * /odom_visualization/color/a: 1.0 * /odom_visualization/color/b: 1.0 * /odom_visualization/color/g: 0.0 * /odom_visualization/color/r: 0.0 * /odom_visualization/covariance_scale: 100.0 * /odom_visualization/robot_scale: 1.0 * /pcl_render_node/cam_cx: 321.04638671875 * /pcl_render_node/cam_cy: 243.44969177246094 * /pcl_render_node/cam_fx: 387.229248046875 * /pcl_render_node/cam_fy: 387.229248046875 * /pcl_render_node/cam_height: 480 * /pcl_render_node/cam_width: 640 * /pcl_render_node/estimation_rate: 30.0 * /pcl_render_node/map/x_size: 40.0 * /pcl_render_node/map/y_size: 20.0 * /pcl_render_node/map/z_size: 5.0 * /pcl_render_node/sensing_horizon: 5.0 * /pcl_render_node/sensing_rate: 30.0 * /quadrotor_simulator_so3/rate/odom: 200.0 * /quadrotor_simulator_so3/simulator/init_state_x: -19.0 * /quadrotor_simulator_so3/simulator/init_state_y: -0.0 * /quadrotor_simulator_so3/simulator/init_state_z: 1.0 * /random_forest/ObstacleShape/lower_hei: 0.0 * /random_forest/ObstacleShape/lower_rad: 0.5 * /random_forest/ObstacleShape/radius_h: 0.5 * /random_forest/ObstacleShape/radius_l: 0.7 * /random_forest/ObstacleShape/seed: -1 * /random_forest/ObstacleShape/theta: 0.5 * /random_forest/ObstacleShape/upper_hei: 3.0 * /random_forest/ObstacleShape/upper_rad: 0.7 * /random_forest/ObstacleShape/z_h: 0.8 * /random_forest/ObstacleShape/z_l: 0.7 * /random_forest/init_state_x: -19.0 * /random_forest/init_state_y: -0.0 * /random_forest/map/circle_num: 10 * /random_forest/map/obs_num: 150 * /random_forest/map/resolution: 0.1 * /random_forest/map/x_size: 40.0 * /random_forest/map/y_size: 20.0 * /random_forest/map/z_size: 5.0 * /random_forest/sensing/radius: 5.0 * /random_forest/sensing/rate: 10.0 * /rosdistro: noetic * /rosversion: 1.17.4 * /so3_control/corrections/p: 0.0 * /so3_control/corrections/r: 0.0 * /so3_control/corrections/z: 0.0 * /so3_control/gains/ang/x: 0.07 * /so3_control/gains/ang/y: 0.07 * /so3_control/gains/ang/z: 0.1 * /so3_control/gains/pos/x: 2.0 * /so3_control/gains/pos/y: 2.0 * /so3_control/gains/pos/z: 3.5 * /so3_control/gains/rot/x: 1.0 * /so3_control/gains/rot/y: 1.0 * /so3_control/gains/rot/z: 1.0 * /so3_control/gains/vel/x: 1.8 * /so3_control/gains/vel/y: 1.8 * /so3_control/gains/vel/z: 2.0 * /so3_control/mass: 0.74 * /so3_control/use_angle_corrections: False * /so3_control/use_external_yaw: False * /traj_server/traj_server/time_forward: 1.5 * /waypoint_generator/waypoint_type: manual-lonely-way... NODES / fast_planner_node (plan_manage/fast_planner_node) odom_visualization (odom_visualization/odom_visualization) pcl_render_node (local_sensing_node/pcl_render_node) quadrotor_simulator_so3 (so3_quadrotor_simulator/quadrotor_simulator_so3) random_forest (map_generator/random_forest) so3_control (nodelet/nodelet) so3_disturbance_generator (so3_disturbance_generator/so3_disturbance_generator) traj_server (plan_manage/traj_server) waypoint_generator (waypoint_generator/waypoint_generator) ROS_MASTER_URI=http://localhost:11311 ERROR: cannot launch node of type [plan_manage/fast_planner_node]: Cannot locate node of type [fast_planner_node] in package [plan_manage]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [plan_manage/traj_server]: Cannot locate node of type [traj_server] in package [plan_manage]. Make sure file exists in package path and permission is set to executable (chmod +x) process[waypoint_generator-3]: started with pid [6328] ERROR: cannot launch node of type [map_generator/random_forest]: Cannot locate node of type [random_forest] in package [map_generator]. Make sure file exists in package path and permission is set to executable (chmod +x) process[quadrotor_simulator_so3-5]: started with pid [6329] process[so3_control-6]: started with pid [6334] process[so3_disturbance_generator-7]: started with pid [6336] type is so3_control/SO3ControlNodelet process[odom_visualization-8]: started with pid [6346] ERROR: cannot launch node of type [local_sensing_node/pcl_render_node]: Cannot locate node of type [pcl_render_node] in package [local_sensing_node]. Make sure file exists in package path and permission is set to executable (chmod +x) [WARN] [1758603844.642702072]: Shutdown request received. [WARN] [1758603844.643502636]: Shutdown request received. [WARN] [1758603844.644664574]: Reason given for shutdown: [[/quadrotor_simulator_so3] Reason: new node registered with same name] [WARN] [1758603844.644818133]: Shutdown request received. [WARN] [1758603844.644837708]: Reason given for shutdown: [[/waypoint_generator] Reason: new node registered with same name] [WARN] [1758603844.647252453]: Reason given for shutdown: [[/so3_control] Reason: new node registered with same name] [WARN] [1758603844.647250519]: Shutdown request received. [WARN] [1758603844.649314238]: Shutdown request received. [WARN] [1758603844.650018032]: Reason given for shutdown: [[/so3_disturbance_generator] Reason: new node registered with same name] [WARN] [1758603844.651132036]: Reason given for shutdown: [[/odom_visualization] Reason: new node registered with same name] Error in XmlRpcClient::writeRequest: write error (Connection refused). [quadrotor_simulator_so3-5] process has finished cleanly log file: /home/annant/.ros/log/def20c68-9839-11f0-8aea-4368951a8594/quadrotor_simulator_so3-5*.log ================================================================================REQUIRED process [so3_control-6] has died! process has finished cleanly log file: /home/annant/.ros/log/def20c68-9839-11f0-8aea-4368951a8594/so3_control-6*.log Initiating shutdown! ================================================================================ [odom_visualization-8] killing on exit [so3_disturbance_generator-7] killing on exit [so3_control-6] killing on exit [waypoint_generator-3] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
09-24
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