class type costmap_2d::Layer does not exist

最新推荐文章于 2024-11-08 11:59:28 发布

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在ROSMelodic环境下，为局部costmap集成超声波传感器时遇到错误。通过运行命令`sudoapt-getinstallros-melodic-range-sensor-layer`，成功解决了报错问题，该命令用于安装对应版本的range-sensor-layer包。

wiki原文
将超声波加入局部costmap时报错，执行以下命令成功解除错误。

# 本人ros版本为melodic，请改为与自己对应的版本。
sudo apt-get install ros-melodic-range-sensor-layer

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专栏目录

costmap_2d 之 layer

m0_53316604的博客

03-29

382

costmap_2d 之 layer层

ROS 进阶学习笔记（16）：ROS导航1：关于Costmap_2d Package （代价地图包）

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Combine Art and Sciences.

05-30

1万+

=== 关于Costmap_2d Package === wiki page: http://wiki.ros.org/costmap_2d === 我学这个包的时候，尽量总结wiki page上的内容如下：=== 所属Stack: navigation Sammary: 1. 实现2D cost map 2. 输入： sensor data 3. 生成：

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Error starting daemon: layer does not exist

xiaomin1991222的专栏

06-02

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#systemctl status docker.service ● docker.service - Docker Application Container Engine Loaded: loaded (/usr/lib/systemd/system/docker.service; enabled; vendor preset: disabled) Active: fail...

docker报错：Error starting daemon: layer does not exist

liangshao_fisher的博客

08-15

4240

服务器出现了异常关机，导致容器启动时出现这个错误：Error starting daemon: layer does not exist，反复检查了docker运行是正常的，最后查找了一下docker挂载的数据，于是将docker挂载的数据清空，再重新运行容器。有数据丢失风险，慎重。............

[move_base-24] process has died [exit code -6, cmd lib/move_base/move_base odom:=mobile_base_control

走过路过不要错过

12-22

6356

尝试使用TIAGo机器人进行SLAM时，运行 roslaunch tiago_2dnav_gazebo tiago_mapping.launch public_sim:=true 指令时加载TIAGo机器人失败，报错：terminate called after throwing an instance of 'pluginlib::LibraryLoadException' what(): According to the loaded plugin descriptions the class ran.

docker 服务启动失败

s7799653的博客

10-08

1031

start-limit systemctl status docker.service 提示失败的原因为start-limit journalctl -xe显示Error starting daemon: layer does not exist 解决方法删除 /var/lib/docker文件夹rm -rf /var/li...

[FATAL] [1750306585.824886046]: Failed to create the wpbh_local_planner/WpbhLocalPlanner planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class wpbh_local_planner/WpbhLocalPlanner with base class type nav_core::BaseLocalPlanner does not exist. Declared types are base_local_planner/TrajectoryPlannerROS dwa_local_planner/DWAPlannerROS [move_base-6] process has died [pid 86413, exit code 1, cmd /home/cat/catkin_ws/devel/lib/move_base/move_base __name:=move_base __log:=/home/cat/.ros/log/276423d0-4cc4-11f0-a515-a84fa4f79f47/move_base-6.log]. log file: /home/cat/.ros/log/276423d0-4cc4-11f0-a515-a84fa4f79f47/move_base-6*.log

最新发布

06-20

- {name: obstacles, type: "costmap_2d::VoxelLayer"} - {name: inflation, type: "costmap_2d::InflationLayer"} ``` #### 动态链接库检查运行时环境变量的设置也会影响插件的加载。确保以下环境变量已正确...

[ WARN] [1741925697.940722080, 3047.964000000]: Timed out waiting for transform from rb_1/base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame rb_1/base_link does not exist.. canTransform returned after 3047.96 timeout was 0.1. [ WARN] [1741925697.949236051, 3047.967000000]: No laser scan received (and thus no pose updates have been published) for 3047.967000 seconds. Verify that data is being published on the /rb_1/scan_full_filtered topic. [ WARN] [1741925697.949295948, 3047.967000000]: No laser scan received (and thus no pose updates have been published) for 3047.967000 seconds. Verify that data is being published on the /rb_1/scan_full_filtered topic. [ WARN] [1741925697.951935769, 3047.968000000]: No laser scan received (and thus no pose updates have been published) for 3047.968000 seconds. Verify that data is being published on the /rb_0/scan_full_filtered topic. [ WARN] [1741925697.951983685, 3047.968000000]: No laser scan received (and thus no pose updates have been published) for 3047.968000 seconds. Verify that data is being published on the /rb_0/scan_full_filtered topic. [ WARN] [1741925697.958275851, 3047.971000000]: Timed out waiting for transform from rb_0/base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame rb_0/base_link does not exist.. canTransform returned after 3047.97 timeout was 0.1. [ WARN] [1741925698.819645610, 3048.511000000]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1741925698.819899011, 3048.511000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ WARN] [1741925698.913784688, 3048.571000000]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1741925698.913994389, 3048.571000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ WARN] [1741925699.343151879, 3048.845000000]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1741925699.343463320, 3048.845000000]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [FATAL] [1741925699.383942029, 3048.868000000]: Failed to create the eband_local_planner/EBandPlannerROS planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class eband_local_planner/EBandPlannerROS with base class type nav_core::BaseLocalPlanner does not exist. Declared types are base_local_planner/TrajectoryPlannerROS dwa_local_planner/DWAPlannerROS teb_local_planner/TebLocalPlannerROS wpbh_local_planner/WpbhLocalPlanner

03-15

然后，global_costmap和local_costmap的警告指出Pre-Hydro参数未被使用，因为提供了plugins参数。这可能是因为在Hydro版本之后，ROS导航栈的参数结构发生了变化，旧的参数名称不再被使用，需要更新配置文件，移除...

AssertionError: weight model.layers.0.self_attn.q_proj.weight does not exist

sqlora的专栏

11-08

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通义千问2.5-7B-Instruct-AWQ量化，但在npu上运行报上面错误，奇怪?： Exception:weight model.layers.0.self_attn.q_proj.weight does not exist AssertionError: weight model.layers.0.self_attn.q_proj.weight does not exist https://www.modelscope.cn/models/Qwen/Qwen2.5-7B-Instruc

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针对导出dxf文件时点击lib按钮列表conversion文件为空的情况，主要问题是环境变量env加载的问题，在candec安装目录（例如c:\cadence）下创建pcbenv文件夹，将c:\cadence\spb_16.0\share\pcb\text中的env文件拷贝到C:\Cadence\pcbenv中，重启软件即可。据说还可以修改env进行快捷键自由编辑。

costmap2D自定义layers的坑（二）

人在电子厂，已经码到失联

04-09

987

为什么没有一，因为之前没时间写（笑）因为已经用了一段时间costmap2D这个包，所以现在的bug都是新的bug了。（之前的不记得了）大部分人自定义图层的代码都是基于David.Lu的那个超声波层（senorlayer）改的所以本篇更多是对senorlayer的坑 1. senorlayer的GitHub包分为两个版本indigo和melodic记得区分 gcc版本记得切到7.3及以上，不然会出现 error: no matching function for call ...

costmap_2d 代价地图

无穷山色

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1.概况 costmap_2d package提供以网格占有的方式，保管机器人应该在哪里导航的信息的配置结构。 costmap用从静态地图中获得的激光数据和信息，通过costmap_2d::Costmap2DROS来存储和更新障碍物信息。 costmap_2d::Costmap2DROS提供给用户纯粹的二维界面，意味着障碍物的查询只能在列项中生成。例如，在XY平面中的椅子和鞋

CostmapLayer类分析

Lee_canface的博客

07-26

594

CostmapLayer代价地图层头文件： #include <ros/ros.h> #include <costmap_2d/layer.h> //地图层 #include <costmap_2d/layered_costmap.h> //层的代价地图数据类型： protected： bool has_extra_bounds_; //边界值更新是否成功 private: double extra_min_x_, extra_max_x_, extra_min_y

costmap_2d详解2：Costmap 代码整体分析

feidaji的博客

11-21

2387

代码文件结构： costmap_2d ├── plugins │ ├── beifen-virtualWall_layer.cpp │ ├── inflation_layer.cpp //膨胀层 │ ├── obstacle_layer.cpp //动态障碍物层 │ ├── simple_layer.cpp │ ├── static_layer.cpp //静态障碍...

【ROS-Navigation】Costmap2D代价地图源码解读-障碍层ObstacleLayer

NEO's NOTEBOOK

03-14

4883

记录学习阅读ROS Navigation源码的理解，本文为Costmap2D代价地图源码学习记录，以文字总结、绘制结构图说明、代码注释为主。仍在学习过程中，有错误欢迎指正，共同进步。障碍层地图通过订阅传感器话题，将传感器输出的障碍物信息存进buffer（剔除过高、过远的点），在本层地图上将观测到的点云标记为障碍物，将传感器到点云点连线上的点标记为FREE_SPACE。最后，在bound范围内，将本层地图合并到主地图上。

ROS naviagtion analysis: costmap_2d--ObstacleLayer

BjtRob的专栏

01-10

8445

构造函数 ObstacleLayer() { costmap_ = NULL; // this is the unsigned char* member of parent class Costmap2D.这里指明了costmap_指针保存了Obstacle这一层的地图数据 }对于ObstacleLater，首先分析其需要实现的Layer层的方法： virtual void o

【ROS-Navigation】Costmap2D代价地图源码解读-膨胀层InflationLayer

NEO's NOTEBOOK

03-15

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记录学习阅读ROS Navigation源码的理解，本文为Costmap2D代价地图源码学习记录，以文字总结、绘制结构图说明、代码注释为主。仍在学习过程中，有错误欢迎指正，共同进步。 InflationLayer没有自身的栅格地图要维护，直接在主地图上进行操作，它根据膨胀参数设置用来膨胀的“参考矩阵”，并在主地图上从障碍物出发，不断传播更新，完成对整个地图障碍的膨胀，等效于完成一个由“将机器人...

navigatoin 调试 -3- 解决costmap动态障碍不更新问题

sunyoop的博客

06-07

5014

机器人导航过程中，有两个问题 1.在行进过程中，当扫描到动态障碍后，将障碍记录到地图信息中，如果这块区域不再扫描到，则这块动态障碍区域永远不再消失。如果指定目的地为这块区域时，算法会显示该地方不可到达 2.很多人围着机器人，地图中会出现很多动态障碍，当人群散开不再围着机器人时，costmap中会残留很多动态障碍，并且长时间不消失。通常来说是扫描范围中最左边和最右边的区域里动态障碍不会消失，怀疑