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数据库技术与应用
原创 已于 2025-08-22 14:48:58 修改 · 143 阅读 · 0 ·
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按照你的要求修改后报错： WARNING: Package name "robotName_description" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. [robot_state_publisher-6] process has died [pid 16305, exit code 1, cmd /home/robot/UR5-Pick-and-Place-Simulation-main/catkin_ws/devel/.private/robot_state_publisher/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/robot/.ros/log/19d1baf8-bef1-11f0-850d-37c6b361701a/robot_state_publisher-6.log]. log file: /home/robot/.ros/log/19d1baf8-bef1-11f0-850d-37c6b361701a/robot_state_publisher-6*.log [INFO] [1762860318.982315, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1762860318.989154, 0.000000]: Waiting for service /gazebo/spawn_urdf_model Waining gazebo service.. [INFO] [1762860319.100038077]: Finished loading Gazebo ROS API Plugin. [INFO] [1762860319.100860444]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [INFO] [1762860319.136844153]: Finished loading Gazebo ROS API Plugin. [INFO] [1762860319.137435485]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring. [INFO] [1762860319.468792526]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1762860319.480553920]: Physics dynamic reconfigure ready. ../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available. [INFO] [1762860319.593003, 0.000000]: Calling service /gazebo/spawn_urdf_model ../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available. libcurl: (60) SSL: no alternative certificate subject name matches target host name 'fuel.ignitionrobotics.org' [INFO] [1762860321.401597103]: Camera Plugin: The 'robotNamespace' param did not exit [INFO] [1762860321.404988328]: Camera Plugin (ns = ) <tf_prefix_>, set to "" [INFO] [1762860321.413659008]: SetStatic service at: /link_attacher_node/setstatic [INFO] [1762860321.414917514]: Attach service at: /link_attacher_node/attach [INFO] [1762860321.415299813]: Detach service at: /link_attacher_node/detach [INFO] [1762860321.415338479]: Link attacher node initialized. Error [parser_urdf.cc:3267] Unable to call parseURDF on robot model Error [parser.cc:488] parse as old deprecated model file failed. 以下为修改后的完整xacro文件内容： <?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <!-- 1. 底盘参数 --> <xacro:property name="wheel_radius" value="0.05" /> <xacro:property name="wheel_width" value="0.02" /> <xacro:property name="base_radius" value="0.15" /> <xacro:property name="base_height" value="0.05" /> <xacro:property name="pi" value="3.1415926535" /> <!-- 2. 底盘基座 --> <link name="base_footprint"/> <joint name="base_footprint_joint" type="fixed"> <parent link="base_footprint"/> <child link="mobile_base"/> <origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/> </joint> <!-- 3. 底盘主体 --> <link name="mobile_base"> <visual> <geometry> <cylinder radius="${base_radius}" length="${base_height}"/> </geometry> <material name="blue"> <color rgba="0 0 0.8 0.5"/> </material> </visual> <collision> <geometry> <cylinder radius="${base_radius}" length="${base_height}"/> </geometry> </collision> <inertial> <mass value="5.0"/> <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/> </inertial> </link> <!-- 4. 驱动轮宏定义 --> <xacro:macro name="drive_wheel" params="prefix x y"> <link name="${prefix}_wheel"> <visual> <geometry> <cylinder radius="${wheel_radius}" length="${wheel_width}"/> </geometry> <material name="black"/> </visual> <collision> <geometry> <cylinder radius="${wheel_radius}" length="${wheel_width}"/> </geometry> </collision> <inertial> <mass value="0.5"/> <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/> </inertial> </link> <joint name="${prefix}_wheel_joint" type="continuous"> <parent link="mobile_base"/> <child link="${prefix}_wheel"/> <origin xyz="${x} ${y} -${base_height/2}" rpy="${pi/2} 0 0"/> <axis xyz="0 1 0"/> </joint> </xacro:macro> <!-- 5. 万向轮宏定义 --> <xacro:macro name="caster_wheel" params="prefix x y"> <link name="${prefix}_caster"> <visual> <geometry> <sphere radius="${wheel_radius}"/> </geometry> <material name="gray"/> </visual> <collision> <geometry> <sphere radius="${wheel_radius}"/> </geometry> </collision> <inertial> <mass value="0.2"/> <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> </inertial> </link> <joint name="${prefix}_caster_joint" type="fixed"> <parent link="mobile_base"/> <child link="${prefix}_caster"/> <origin xyz="${x} ${y} -${base_height/2}" rpy="0 0 0"/> </joint> </xacro:macro> <!-- 6. 实例化轮子 --> <xacro:drive_wheel prefix="left" x="0" y="${base_radius*0.8}"/> <xacro:drive_wheel prefix="right" x="0" y="-${base_radius*0.8}"/> <xacro:caster_wheel prefix="front" x="${base_radius*0.7}" y="0"/> <xacro:caster_wheel prefix="rear" x="-${base_radius*0.7}" y="0"/> <!-- 7. 机械臂基座连接点 --> <joint name="arm_base_joint" type="fixed"> <parent link="mobile_base"/> <child link="base_link"/> <!-- 连接原有UR5的根链接 --> <origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/> </joint> <xacro:include filename="$(find ur5_description)/urdf/ur.transmission.xacro" /> <xacro:include filename="$(find ur5_description)/urdf/ur.gazebo.xacro" /> <!-- Inertia parameters --> <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect --> <xacro:property name="shoulder_mass" value="3.7000" /> <xacro:property name="upper_arm_mass" value="8.3930" /> <xacro:property name="forearm_mass" value="2.2750" /> <xacro:property name="wrist_1_mass" value="1.2190" /> <xacro:property name="wrist_2_mass" value="1.2190" /> <xacro:property name="wrist_3_mass" value="0.1879" /> <xacro:property name="shoulder_cog" value="0.0 0.00193 -0.02561" /> <xacro:property name="upper_arm_cog" value="0.0 -0.024201 0.2125" /> <xacro:property name="forearm_cog" value="0.0 0.0265 0.11993" /> <xacro:property name="wrist_1_cog" value="0.0 0.110949 0.01634" /> <xacro:property name="wrist_2_cog" value="0.0 0.0018 0.11099" /> <xacro:property name="wrist_3_cog" value="0.0 0.001159 0.0" /> <!-- Kinematic model --> <!-- Properties from urcontrol.conf --> <!-- DH for UR5: a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000] d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823] alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ] q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0] joint_direction = [-1, -1, 1, 1, 1, 1] mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879] center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ] --> <xacro:property name="ur5_d1" value="0.089159" /> <xacro:property name="ur5_a2" value="-0.42500" /> <xacro:property name="ur5_a3" value="-0.39225" /> <xacro:property name="ur5_d4" value="0.10915" /> <xacro:property name="ur5_d5" value="0.09465" /> <xacro:property name="ur5_d6" value="0.0823" /> <!-- Arbitrary offsets for shoulder/elbow joints --> <xacro:property name="shoulder_offset" value="0.13585" /> <!-- measured from model --> <xacro:property name="elbow_offset" value="-0.1197" /> <!-- measured from model --> <!-- link lengths used in model --> <xacro:property name="shoulder_height" value="${ur5_d1}" /> <xacro:property name="upper_arm_length" value="${-ur5_a2}" /> <xacro:property name="forearm_length" value="${-ur5_a3}" /> <xacro:property name="wrist_1_length" value="${ur5_d4 - elbow_offset - shoulder_offset}" /> <xacro:property name="wrist_2_length" value="${ur5_d5}" /> <xacro:property name="wrist_3_length" value="${ur5_d6}" /> <!--property name="shoulder_height" value="0.089159" /--> <!--property name="shoulder_offset" value="0.13585" /--> <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 --> <!--property name="upper_arm_length" value="0.42500" /--> <!--property name="elbow_offset" value="0.1197" /--> <!-- CAD measured --> <!--property name="forearm_length" value="0.39225" /--> <!--property name="wrist_1_length" value="0.093" /--> <!-- CAD measured --> <!--property name="wrist_2_length" value="0.09465" /--> <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 --> <!--property name="wrist_3_length" value="0.0823" /--> <xacro:property name="shoulder_radius" value="0.060" /> <!-- manually measured --> <xacro:property name="upper_arm_radius" value="0.054" /> <!-- manually measured --> <xacro:property name="elbow_radius" value="0.060" /> <!-- manually measured --> <xacro:property name="forearm_radius" value="0.040" /> <!-- manually measured --> <xacro:property name="wrist_radius" value="0.045" /> <!-- manually measured --> <xacro:macro name="cylinder_inertial" params="radius length mass *origin"> <inertial> <mass value="${mass}" /> <xacro:insert_block name="origin" /> <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0" iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0" izz="${0.5 * mass * radius * radius}" /> </inertial> </xacro:macro> <xacro:macro name="ur5_robot" params="prefix joint_limited"> <link name="${prefix}base_link" > <visual> <geometry> <mesh filename="package://ur5_description/meshes/ur5/visual/base.dae" /> </geometry> <material name="LightGrey"> <color rgba="0.7 0.7 0.7 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://ur5_description/meshes/ur5/collision/base.stl" /> </geometry> </collision> <xacro:cylinder_inertial radius="0.06" length="0.05" mass="${base_mass}"> <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> </xacro:cylinder_inertial> </link> <joint name="${prefix}shoulder_pan_joint" type="revolute"> <parent link="${prefix}base_link" /> <child link = "${prefix}shoulder_link" /> <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" /> <axis xyz="0 0 1" /> <xacro:unless value="${joint_limited}"> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/> </xacro:unless> <xacro:if value="${joint_limited}"> <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> </xacro:if> <dynamics damping="0.0" friction="0.0"/> </joint> <link name="${prefix}shoulder_link"> <visual> <geometry> <mesh filename="package://ur5_description/meshes/ur5/visual/shoulder.dae" /> </geometry> <material name="LightGrey"> <color rgba="0.7 0.7 0.7 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://ur5_description/meshes/ur5/collision/shoulder.stl" /> </geometry> </collision> <xacro:cylinder_inertial radius="0.06" length="0.15" mass="${shoulder_mass}"> <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> </xacro:cylinder_inertial> </link> <joint name="${prefix}shoulder_lift_joint" type="revolute"> <parent link="${prefix}shoulder_link" /> <child link = "${prefix}upper_arm_link" /> <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" /> <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/> </xacro:unless> <xacro:if value="${joint_limited}"> <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> </xacro:if> <dynamics damping="0.0" friction="0.0"/> </joint> <link name="${prefix}upper_arm_link"> <visual> <geometry> <mesh filename="package://ur5_description/meshes/ur5/visual/upperarm.dae" /> </geometry> <material name="LightGrey"> <color rgba="0.7 0.7 0.7 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://ur5_description/meshes/ur5/collision/upperarm.stl" /> </geometry> </collision> <xacro:cylinder_inertial radius="0.06" length="0.56" mass="${upper_arm_mass}"> <origin xyz="0.0 0.0 0.28" rpy="0 0 0" /> </xacro:cylinder_inertial> </link> <joint name="${prefix}elbow_joint" type="revolute"> <parent link="${prefix}upper_arm_link" /> <child link = "${prefix}forearm_link" /> <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" /> <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> </xacro:unless> <xacro:if value="${joint_limited}"> <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> </xacro:if> <dynamics damping="0.0" friction="0.0"/> </joint> <link name="${prefix}forearm_link"> <visual> <geometry> <mesh filename="package://ur5_description/meshes/ur5/visual/forearm.dae" /> </geometry> <material name="LightGrey"> <color rgba="0.7 0.7 0.7 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://ur5_description/meshes/ur5/collision/forearm.stl" /> </geometry> </collision> <xacro:cylinder_inertial radius="0.06" length="0.5" mass="${forearm_mass}"> <origin xyz="0.0 0.0 0.25" rpy="0 0 0" /> </xacro:cylinder_inertial> </link> <joint name="${prefix}wrist_1_joint" type="revolute"> <parent link="${prefix}forearm_link" /> <child link = "${prefix}wrist_1_link" /> <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" /> <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> </xacro:unless> <xacro:if value="${joint_limited}"> <limit lower="${-pi}" upper="${pi}" effort="28.0" velocity="3.2"/> </xacro:if> <dynamics damping="0.0" friction="0.0"/> </joint> <link name="${prefix}wrist_1_link"> <visual> <geometry> <mesh filename="package://ur5_description/meshes/ur5/visual/wrist1.dae" /> </geometry> <material name="LightGrey"> <color rgba="0.7 0.7 0.7 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://ur5_description/meshes/ur5/collision/wrist1.stl" /> </geometry> </collision> <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_1_mass}"> <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> </xacro:cylinder_inertial> </link> <joint name="${prefix}wrist_2_joint" type="revolute"> <parent link="${prefix}wrist_1_link" /> <child link = "${prefix}wrist_2_link" /> <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" /> <axis xyz="0 0 1" /> <xacro:unless value="${joint_limited}"> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> </xacro:unless> <xacro:if value="${joint_limited}"> <limit lower="${-pi}" upper="${pi}" effort="28.0" velocity="3.2"/> </xacro:if> <dynamics damping="0.0" friction="0.0"/> </joint> <link name="${prefix}wrist_2_link"> <visual> <geometry> <mesh filename="package://ur5_description/meshes/ur5/visual/wrist2.dae" /> </geometry> <material name="LightGrey"> <color rgba="0.7 0.7 0.7 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://ur5_description/meshes/ur5/collision/wrist2.stl" /> </geometry> </collision> <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_2_mass}"> <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> </xacro:cylinder_inertial> </link> <joint name="${prefix}wrist_3_joint" type="revolute"> <parent link="${prefix}wrist_2_link" /> <child link = "${prefix}wrist_3_link" /> <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" /> <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> </xacro:unless> <xacro:if value="${joint_limited}"> <limit lower="${-pi}" upper="${pi}" effort="28.0" velocity="3.2"/> </xacro:if> <dynamics damping="0.0" friction="0.0"/> </joint> <link name="${prefix}wrist_3_link"> <visual> <geometry> <mesh filename="package://ur5_description/meshes/ur5/visual/wrist3.dae" /> </geometry> <material name="LightGrey"> <color rgba="0.7 0.7 0.7 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://ur5_description/meshes/ur5/collision/wrist3.stl" /> </geometry> </collision> <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_3_mass}"> <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> </xacro:cylinder_inertial> </link> <joint name="${prefix}ee_fixed_joint" type="fixed"> <parent link="${prefix}wrist_3_link" /> <child link = "${prefix}ee_link" /> <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" /> </joint> <link name="${prefix}ee_link"> <collision> <geometry> <box size="0.01 0.01 0.01"/> </geometry> <origin rpy="0 0 0" xyz="-0.01 0 0"/> </collision> </link> <xacro:ur_arm_transmission prefix="${prefix}" /> <xacro:ur_arm_gazebo prefix="${prefix}" /> <!-- ROS base_link to UR 'Base' Coordinates transform --> <link name="${prefix}base"/> <joint name="${prefix}base_link-base_fixed_joint" type="fixed"> <!-- NOTE: this rotation is only needed as long as base_link itself is not corrected wrt the real robot (ie: rotated over 180 degrees) --> <origin xyz="0 0 0" rpy="0 0 ${-pi}"/> <parent link="${prefix}base_link"/> <child link="${prefix}base"/> </joint> <!-- Frame coincident with all-zeros TCP on UR controller --> <link name="${prefix}tool0"/> <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed"> <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/> <parent link="${prefix}wrist_3_link"/> <child link="${prefix}tool0"/> </joint> <!-- 在base_link下方添加底盘 --> <link name="mobile_base"> <visual> <geometry> <cylinder length="0.05" radius="0.20"/> <!-- 底盘尺寸 --> </geometry> <material name="blue"/> </visual> <collision>...</collision> <inertial>...</inertial> </link> <joint name="base_to_mobile_joint" type="fixed"> <parent link="base_link"/> <!-- 原机械臂基座 --> <child link="mobile_base"/> <!-- 新底盘 --> <origin xyz="0 0 -0.1" rpy="0 0 0"/> <!-- Z轴下移10cm --> </joint> </xacro:macro> <!-- 注意：确保原有UR5的根链接名为"base_link" --> <xacro:ur5_robot prefix="" joint_limited="true"/> <!-- ====== 用户提供的UR5代码结束 ====== --> <!-- 9. Gazebo差分驱动插件 --> <gazebo> <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so"> <commandTopic>cmd_vel</commandTopic> <odometryTopic>odom</odometryTopic> <odometryFrame>odom</odometryFrame> <robotBaseFrame>base_footprint</robotBaseFrame> <publishWheelTF>true</publishWheelTF> <wheelSeparation>${base_radius*1.6}</wheelSeparation> <wheelDiameter>${wheel_radius*2}</wheelDiameter> <torque>5</torque> <publishTf>1</publishTf> <leftJoint>left_wheel_joint</leftJoint> <rightJoint>right_wheel_joint</rightJoint> </plugin> </gazebo> </robot>
11-12
-- 错误示例：未闭合标签 --> <link name="base_link"> <visual>...</visual> <!-- 缺少闭合标签 --> ``` **修复方案**： 使用XML验证工具检查： ```bash xacro my_robot.xacro > tmp.urdf # 转换xacro为URDF check...
<?xml version="1.0" encoding="UTF-8"?> <root> <TaskInfo> <TaskId>202503170290000015</TaskId> <TaskDescription>ship_type</TaskDescription> </TaskInfo> <ImageInfo> <ImagingName>P7-A_PAN_MTA_00_E139.7_N35.4_20220716_L2_2022010306000004.tif</ImagingName> <ImagingTime>2025-03-18 00:58:47</ImagingTime> <Satellite>0</Satellite> <Sensor>gj</Sensor> <Resolution>1.00</Resolution> </ImageInfo> <Objects> <DetectNumber>9</DetectNumber> <Object> <ResultID>0</ResultID> <PossibleResult> <Name>Medium Civil Ship</Name> <Reliability>0.9244019985198975</Reliability> </PossibleResult> <Coordinate>pixel</Coordinate> <BoxType>1</BoxType> <Points> <Point>139.6349899917395,35.389176135900804</Point> <Point>139.63401727624876,35.38875040340344</Point> <Point>139.63389857679638,35.38893388925354</Point> <Point>139.63486578981056,35.38935956052674</Point> <Point>139.6349899917395,35.389176135900804</Point> </Points> <Length>100.68</Length> <Width>23.76</Width> <Area>4784.95</Area> <Angle>1.09</Angle> </Object> <Object> <ResultID>1</ResultID> <PossibleResult> <Name>Maya-class Destroyer</Name> <Reliability>0.9218119978904724</Reliability> </PossibleResult> <Coordinate>pixel</Coordinate> <BoxType>1</BoxType> <Points> <Point>139.63785989928692,35.392670681730266</Point> <Point>139.6361435657598,35.39193904954925</Point> <Point>139.63601913424367,35.392135996684544</Point> <Point>139.63773547070224,35.39286763067923</Point> <Point>139.63785989928692,35.392670681730266</Point> </Points> <Length>176.32</Length> <Width>25.1</Width> <Area>8849.99</Area> <Angle>1.1</Angle> </Object> <Object> <ResultID>2</ResultID> <PossibleResult> <Name>Other Ship</Name> <Reliability>0.9135041236877441</Reliability> </PossibleResult> <Coordinate>pixel</Coordinate> <BoxType>1</BoxType> <Points> <Point>139.63799772446515,35.391022305869825</Point> <Point>139.6366689501408,35.39048889496341</Point> <Point>139.63654987457505,35.39069491919173</Point> <Point>139.6378786514064,35.391228331448836</Point> <Point>139.63799772446515,35.391022305869825</Point> </Points> <Length>135.27</Length> <Width>25.78</Width> <Area>6974.63</Area> <Angle>1.13</Angle> </Object> <Object> <ResultID>3</ResultID> <PossibleResult> <Name>Medium Civil Ship</Name> <Reliability>0.9104252457618713</Reliability> </PossibleResult> <Coordinate>pixel</Coordinate> <BoxType>1</BoxType> <Points> <Point>139.63578199870108,35.39477500846337</Point> <Point>139.63386335010532,35.39395991456461</Point> <Point>139.63366537668443,35.39427323533367</Point> <Point>139.6355840305006,35.39508833245871</Point> <Point>139.63578199870108,35.39477500846337</Point> </Points> <Length>196.87</Length> <Width>39.63</Width> <Area>15604.49</Area> <Angle>1.11</Angle> </Object> <Object> <ResultID>4</ResultID> <PossibleResult> <Name>Kongo-class Destroyer</Name> <Reliability>0.895923912525177</Reliability> </PossibleResult> <Coordinate>pixel</Coordinate> <BoxType>1</BoxType> <Points> <Point>139.63819764324742,35.390591791321555</Point> <Point>139.6365303551211,35.389892273827606</Point> <Point>139.6364115836427,35.39008026935361</Point> <Point>139.63807887450443,35.390779788529905</Point> <Point>139.63819764324742,35.390591791321555</Point> </Points> <Length>170.76</Length> <Width>23.98</Width> <Area>8189.08</Area> <Angle>1.11</Angle> </Object> <Object> <ResultID>5</ResultID> <PossibleResult> <Name>Maya-class Destroyer</Name> <Reliability>0.8887401223182678</Reliability> </PossibleResult> <Coordinate>pixel</Coordinate> <BoxType>1</BoxType> <Points> <Point>139.6356004776401,35.38986374198175</Point> <Point>139.635250346226,35.389733562426066</Point> <Point>139.63446685649188,35.39114472913467</Point> <Point>139.6348169925957,35.3912749110411</Point> <Point>139.6356004776401,35.38986374198175</Point> </Points> <Length>35.51</Length> <Width>172.45</Width> <Area>12249.0</Area> <Angle>1.16</Angle> </Object> <Object> <ResultID>6</ResultID> <PossibleResult> <Name>Izumo-class Destroyer</Name> <Reliability>0.8161704540252686</Reliability> </PossibleResult> <Coordinate>pixel</Coordinate> <BoxType>1</BoxType> <Points> <Point>139.63802986630532,35.393366831092564</Point> <Point>139.63554311696018,35.3922884005458</Point> <Point>139.6352548843371,35.39273143658836</Point> <Point>139.63774722316714,35.39380542814236</Point> <Point>139.63802986630532,35.393366831092564</Point> </Points> <Length>256.31</Length> <Width>56.18</Width> <Area>28800.17</Area> <Angle>1.1</Angle> </Object> <Object> <ResultID>7</ResultID> <PossibleResult> <Name>Other Ship</Name> <Reliability>0.7122241854667664</Reliability> </PossibleResult> <Coordinate>pixel</Coordinate> <BoxType>1</BoxType> <Points> <Point>139.6341656695802,35.39202940050501</Point> <Point>139.63388655331735,35.39193157597221</Point> <Point>139.6333230076831,35.393029661542144</Point> <Point>139.63360763120704,35.39312754969642</Point> <Point>139.6341656695802,35.39202940050501</Point> </Points> <Length>29.41</Length> <Width>132.62</Width> <Area>7800.66</Area> <Angle>1.18</Angle> </Object> <Object> <ResultID>8</ResultID> <PossibleResult> <Name>Medium Civil Ship</Name> <Reliability>0.6999003291130066</Reliability> </PossibleResult> <Coordinate>pixel</Coordinate> <BoxType>1</BoxType> <Points> <Point>139.62391301165735,35.397651709189596</Point> <Point>139.623140514593,35.39645730332937</Point> <Point>139.6227688804697,35.39661986202341</Point> <Point>139.62354145005565,35.397809763021414</Point> <Point>139.62391301165735,35.397651709189596</Point> </Points> <Length>150.42</Length> <Width>38.77</Width> <Area>11663.19</Area> <Angle>0.5</Angle> </Object> </Objects> </root>格式有问题吗
07-03
每个<Object>都是以</Object>闭合的，但是注意在最后一个<Object>（即ResultID=8）的结束标签是`</Object>`，但是在整个XML中，我们注意到在`</Object>`之后，紧接着是`</Objects>`和`</root>`，这看起来结构正确。...
[FATAL] Non-parseable settings D:\maven\apache-maven-3.8.1-activity\apache-maven-3.8.1-activity\conf\settings.xml: end tag name </mirrors> must match start tag name <settings> from line 2 (position: TEXT seen ...</mirrors>\r\n\r\n\t</mirrors>... @27:12) @ D:\maven\apache-maven-3.8.1-activity\apache-maven-3.8.1-activity\conf\settings.xml, line 27, column 12 报错原因
11-04
-- 应为小写 --> <Mirrors>...</Mirrors> <!-- 大小写不一致 --> </settings> ``` --- ### 解决方案 #### 步骤1：修复XML结构 ```xml <!-- 正确结构示例 --> <settings xmlns=...
Non-parseable settings /export/serves/apache-maven-3.8.4/conf/settings.xml: end tag name </settings> must match start tag name <mirrors> from line 146 (position: TEXT seen ...</activeProfiles>\r\n -->\r\n</settings>... @268:12) @ /export/serves/apache-maven-3.8.4/conf/settings.xml, line 268, column 12
03-23
-- 应为小写 --> ... </settings> ``` --- #### **3. 使用工具验证XML** - **IDE 检查**：在 IntelliJ IDEA 或 Eclipse 中打开 `settings.xml`，IDE 会直接标红错误位置。 - **在线验证工具**：通过 [XML ...
MySQL无法连接到本地localhost的解决办法2024.11.8
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我的MySQL可以远程连接服务器，但无法连接自己的localhost。1. 检查环境变量是否正确：发现没有配置，加上正确的环境变量↓。2.加上环境变量后，仍然显示不能连接到我的localhost。step3：再在cmd中，输入以下内容，重新安装服务。step1：用管理员权限打开cmd，在命令框中输入。4.没发现问题（大雾）
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2509_93946396的博客
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现在回头看，当初连brew install mysql都能报错一整天的小白，现在也能熟练做分库分表方案了。视频学习最大的价值就是降低入门门槛，但想真正消化知识，还是得在本地环境多折腾。后来偶然刷到某位老师的安装教程，才发现原来从MySQL 8.0开始默认认证方式变了，视频里连修改my.ini配置文件的坑位都标得明明白白。别看时长吓人，但讲师把每个知识点都拆成10分钟左右的片段，通勤路上都能看几集。去年我跟着视频做订单管理系统项目时，曾遇到个典型问题：视频里讲师创建的复合索引查询速度很快，我的却完全没生效。
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2509_93941777的博客
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事务A先锁住了product_id=100的记录准备更新状态，同时事务B锁住了product_id=101的记录要减库存，但接着事务A试图去获取product_id=101的锁，事务B又反过来抢product_id=100的锁——典型的循环等待。这个案例给我的教训是：MySQL的锁机制远比想象中复杂，特别是在非主键索引上操作时，间隙锁容易成为性能杀手。另外还把事务隔离级别降到了READ-COMMITTED，虽然可能引发幻读，但对我们这个业务场景影响不大，毕竟促销活动都是短时爆发，数据一致性要求没那么严苛。
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2509_94004335的博客
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JSON（JavaScript Object Notation）是一种常见的信息交换格式，其简单易读且非常适合程序处理。MySQL从5.7版本开始支持JSON数据类型，本文对MySQL中JSON数据类型的使用进行一个总结。在MySQL中，JSON数据是以字符串形式表现的，但是它有自己的解析规则，利用某些途径可以将字符串转换为JSON类型数据，这个过程叫做规范化(normalization)，在规范化过程中，MySQL会对数据格式进行验证，若字符串不是有效的JSON格式，那么就会报错。
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