不能上网了:ERR_NAME_RESOLUTION_…

本文介绍了一个用于 Windows 操作系统的命令:netsh winsock reset(windowsonly),该命令可以帮助解决网络连接问题。

这个:

netsh winsock reset (windows only)

use_sim_time: True amcl: ros__parameters: use_sim_time: ${use_sim_time} # 继承全局时间配置 alpha1: 0.2 alpha2: 0.2 alpha3: 0.2 alpha4: 0.2 alpha5: 0.2 base_frame_id: "base_link" beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 beam_skip_threshold: 0.3 do_beamskip: False global_frame_id: "map" lambda_short: 0.1 laser_likelihood_max_dist: 2.0 laser_max_range: 100.0 laser_min_range: -1.0 laser_model_type: "likelihood_field" max_beams: 60 max_particles: 2000 min_particles: 500 odom_frame_id: "odom" pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 robot_model_type: "differential" # 根据机器人类型调整(差速/全向) save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: True transform_tolerance: 0.5 update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 z_max: 0.05 z_rand: 0.5 z_short: 0.05 # 行为树导航器配置 bt_navigator: ros__parameters: use_sim_time: ${use_sim_time} global_frame: map robot_base_frame: base_link odom_topic: /odom # 使用绝对路径确保找到正确的BT文件,避免路径冲突 default_bt_xml_filename: "/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning.xml" plugin_lib_names: - nav2_compute_path_to_pose_action_bt_node - nav2_compute_path_through_poses_action_bt_node # 添加路径贯穿多个目标点的插件 - nav2_follow_path_action_bt_node - nav2_back_up_action_bt_node - nav2_spin_action_bt_node - nav2_wait_action_bt_node - nav2_clear_costmap_service_bt_node - nav2_is_stuck_condition_bt_node - nav2_goal_reached_condition_bt_node - nav2_goal_updated_condition_bt_node - nav2_initial_pose_received_condition_bt_node - nav2_reinitialize_global_localization_service_bt_node - nav2_rate_controller_bt_node - nav2_distance_controller_bt_node - nav2_speed_controller_bt_node - nav2_truncate_path_action_bt_node - nav2_goal_updater_node_bt_node - nav2_recovery_node_bt_node - nav2_pipeline_sequence_bt_node - nav2_round_robin_node_bt_node - nav2_transform_available_condition_bt_node - nav2_time_expired_condition_bt_node - nav2_path_expiring_timer_condition - nav2_distance_traveled_condition_bt_node - nav2_remove_passed_goals_action_bt_node # 控制器配置(本地规划) controller_server: ros__parameters: use_sim_time: ${use_sim_time} controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 # 差速机器人可设为0.0 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 progress_checker_plugin: "progress_checker" goal_checker_plugins: ["general_goal_checker"] controller_plugins: ["FollowPath"] # 进度检查器参数 progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 0.5 movement_time_allowance: 10.0 # 超时未移动则触发恢复行为 # 目标检查器参数 general_goal_checker: plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 # 位置误差容忍度(米) yaw_goal_tolerance: 0.25 # 角度误差容忍度(弧度) stateful: True # DWB本地规划器参数 FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: 0.0 max_vel_x: 0.26 # 最大线速度(根据机器人调整) min_vel_y: 0.0 max_vel_y: 0.0 # 差速机器人Y方向速度为0 min_vel_theta: -1.82 max_vel_theta: 1.82 acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 3.2 decel_lim_x: -2.5 decel_lim_y: 0.0 decel_lim_theta: -3.2 vx_samples: 20 vy_samples: 1 # 差速机器人Y方向采样数设为1 vtheta_samples: 20 sim_time: 1.7 linear_granularity: 0.05 angular_granularity: 0.025 transform_tolerance: 0.5 xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 trans_stopped_velocity: 0.25 rot_stopped_velocity: 0.25 prune_plan: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] BaseObstacle.scale: 0.02 PathAlign.scale: 32.0 PathAlign.forward_point_distance: 0.1 GoalAlign.scale: 24.0 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 32.0 GoalDist.scale: 24.0 RotateToGoal.scale: 32.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 # 局部代价地图配置 local_costmap: local_costmap: ros__parameters: use_sim_time: ${use_sim_time} update_frequency: 5.0 # 更新频率(Hz) publish_frequency: 2.0 # 发布频率(Hz) global_frame: odom # 局部地图参考系(里程计) robot_base_frame: base_link rolling_window: true # 滚动窗口(跟随机器人移动) width: 3 # 宽度(米) height: 3 # 高度(米) resolution: 0.05 # 分辨率(米/格) transform_tolerance: 0.5 plugins: ["voxel_layer", "inflation_layer"] voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True publish_voxel_map: True origin_z: 0.0 z_resolution: 0.05 z_voxels: 16 max_obstacle_height: 2.0 mark_threshold: 0 observation_sources: scan # 激光雷达数据来源 scan: topic: /scan # 激光雷达话题(确保与实际一致) max_obstacle_height: 2.0 clearing: True # 允许清除障碍物 marking: True # 允许标记障碍物 data_type: "LaserScan" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" enabled: True inflation_radius: 0.55 # 膨胀半径(根据机器人半径调整) cost_scaling_factor: 10.0 inflate_unknown: False always_send_full_costmap: True # 全局代价地图配置 global_costmap: global_costmap: ros__parameters: use_sim_time: ${use_sim_time} update_frequency: 1.0 publish_frequency: 1.0 global_frame: map # 全局地图参考系(地图) robot_base_frame: base_link robot_radius: 0.22 # 机器人半径(米,根据实际调整) resolution: 0.05 transform_tolerance: 0.2 plugins: ["static_layer", "obstacle_layer", "inflation_layer"] static_layer: plugin: "nav2_costmap_2d::StaticLayer" enabled: True map_subscribe_transient_local: True obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" enabled: True inflation_radius: 0.55 cost_scaling_factor: 10.0 inflate_unknown: False always_send_full_costmap: True # 地图服务器配置 map_server: ros__parameters: use_sim_time: ${use_sim_time} # 确保地图文件路径正确(.yaml和.pgm文件需在同一目录) yaml_filename: "/home/yahboom/hex_aqacs_planner/map.yaml" # 规划器服务器配置(全局规划) planner_server: ros__parameters: use_sim_time: ${use_sim_time} expected_planner_frequency: 20.0 planner_plugins: ["AQACSPlanner"] # 使用AQACS规划器 AQACSPlanner: # 修正插件名称格式,使用命名空间形式 plugin: "hex_aqacs_planner::AQACSPlanner" alpha: 1.0 beta: 2.0 rho: 0.1 ant_count: 50 q: 100.0 hex_side: 0.1 # 六边形边长(米) # 生命周期管理器配置(关键:管理节点启动顺序) lifecycle_manager_navigation: ros__parameters: use_sim_time: ${use_sim_time} # 节点启动顺序:先启动地图和定位,再启动规划和控制 node_names: ["map_server", "amcl", "planner_server", "controller_server", "bt_navigator"] autostart: True # 自动启动所有节点 bond_timeout: 10000 # 超时时间(毫秒) 帮我修改一下吧
10-27
#define CATCH_CONFIG_MAIN #ifdef CATCH_CONFIG_MAIN #include "LSP/catch2/catch.hpp" #include <time.h> #include "ad_msg.h" #include "util.h" #include "parse_proto_msg.h" #include "utils/log.h" #include "utils/gps_tools.h" #include "CruPlanningAlg.h" #include <thread> // #include "Klog.h" ////////Log header files // #include "ara/log/log_com.h" // #include "LSP/EnhancedAssertion.h" #include "map_msg_apollo.pb.h" using std::chrono::high_resolution_clock; using std::chrono::milliseconds; uint32_t g_TrajCalculateTime; // 全局控制变量 std::atomic<bool> running{true}; std::once_flag init_flag; // 确保初始化只执行一次 namespace mpa { namespace cru_planning_algorithm { TEST_CASE("CruPlanning01", "[CruPlanning]") { LOG_INFO(5) << " CruPlanning01--------------------"; CruiseTrajPlanning planner; // 确保初始化只执行一次 std::call_once(init_flag, [&] { planner.cruiseTrajPlanningInit("../conf/Cru_Planning_Parameter.yaml"); std::cout << "Cruise planning initialized once\n"; }); // 创建三个不同周期的线程 std::thread t1([&planner] { while(running) { planner.updateUserClockUs(); std::this_thread::sleep_for(std::chrono::milliseconds(10)); } }); std::thread t2([&planner] { while(running) { planner.checkModuleStatus(); std::this_thread::sleep_for(std::chrono::milliseconds(50)); } }); std::thread t3([&planner] { while(running) { // 先执行所有接收函数(模拟数据接收) std::string file_name = "../conf/map_1030.txt"; // std::string file_name = "./conf/DGMMap_mult_lane_1101.txt"; phoenix::msg::map::MapMsg map_msg; bool read_map = phoenix::framework::GetProtoFromASCIIFile(file_name, map_msg.mutable_hdmap()); if(read_map) { LOG_INFO(5) << "Read map ok"; std::cout << "The map is: \n" << map_msg.hdmap().DebugString() << std::endl; } else { LOG_INFO(5) << "Read map fail"; } Int32_t map_msg_serialize_size = map_msg.ByteSize(); std::shared_ptr<Char_t> map_data_array(new Char_t[map_msg_serialize_size], std::default_delete<Char_t[]>()); if (!map_msg.SerializeToArray(map_data_array.get(), map_msg_serialize_size)) { LOG_ERR << "Failed to serialize Map message."; } planner.recvMapMessage(map_data_array.get(), map_msg_serialize_size); phoenix::ad_msg::Chassis chassis_; chassis_.driving_mode = phoenix::ad_msg::VEH_DRIVING_MODE_ROBOTIC; chassis_.eps_status = phoenix::ad_msg::VEH_EPS_STATUS_ROBOTIC; chassis_.steering_wheel_angle_valid = 1; chassis_.steering_wheel_angle = 0; chassis_.v_valid = 1; chassis_.v = 30.0F/3.6F; chassis_.yaw_rate_valid = 1; chassis_.yaw_rate= 0; chassis_.gear = phoenix::ad_msg::VEH_GEAR_D; // Update message head chassis_.msg_head.valid = true; chassis_.msg_head.UpdateSequenceNum(); chassis_.msg_head.timestamp = phoenix::common::GetClockNowMs(); phoenix::msg::control::Chassis chassis_proto; phoenix::msg::ParseProtoMsg pase_proto; pase_proto.EncodeChassisMessage(chassis_,&chassis_proto); Int32_t chassis_proto_serialize_size = chassis_proto.ByteSize(); std::shared_ptr<Char_t> chassis_data_array(new Char_t[chassis_proto_serialize_size], std::default_delete<Char_t[]>()); if (!chassis_proto.SerializeToArray(chassis_data_array.get(), chassis_proto_serialize_size)) { LOG_ERR << "Failed to serialize chassis message."; } planner.recvChassisMessage(chassis_data_array.get(), chassis_proto_serialize_size); phoenix::ad_msg::Gnss gnss_; gnss_.msg_head.valid = true; gnss_.x_utm = 255877.829200091; gnss_.y_utm = 3371818.6588779385; // gnss_.x_utm = 255873.40718475843; // gnss_.y_utm = 3371819.0246172794; gnss_.z_utm = 0.0; gnss_.heading_utm = 0.0; gnss_.gnss_status = 3 ; gnss_.utm_status = 3 ; phoenix::msg::localization::Gnss gnss_proto; pase_proto.EncodeGnssMessage(gnss_,&gnss_proto); Int32_t gnss_proto_serialize_size = gnss_proto.ByteSize(); std::shared_ptr<Char_t> gnss_data_array(new Char_t[gnss_proto_serialize_size], std::default_delete<Char_t[]>()); if (!gnss_proto.SerializeToArray(gnss_data_array.get(), gnss_proto_serialize_size)) { LOG_ERR << "Failed to serialize gnss message."; } planner.recvGnssMessage(gnss_data_array.get(), gnss_proto_serialize_size); planner.recvImuMessage(nullptr, 0); phoenix::ad_msg::ObstacleList obstacle_list_; obstacle_list_.obstacles_els_num = 1; Float32_t obj_v = -10.0F / 3.6F; for (Int32_t i = 0; i < obstacle_list_.obstacles_els_num; ++i) { phoenix::ad_msg::Obstacle &obj = obstacle_list_.obstacles[i]; obj.id = 0; obj.x = 60.0F; //-0.5F * obj_v; obj.y = 0.0F; //-3.6F; obj.obb.x = obj.x + 1.0F; obj.obb.y = obj.y; obj.obb.heading = phoenix::common::com_deg2rad(0.0F); obj.obb.half_length = 2.0F; obj.obb.half_width = 1.0F; obj.type = phoenix::ad_msg::OBJ_TYPE_PASSENGER_VEHICLE; obj.dynamic = false; obj.confidence = 90; obj.perception_type = phoenix::ad_msg::OBJ_PRCP_TYPE_FUSED; obj.v = obj_v; obj.v_x = obj_v; obj.v_y = 0.0F; } // Update message head obstacle_list_.msg_head.valid = true; obstacle_list_.msg_head.UpdateSequenceNum(); obstacle_list_.msg_head.timestamp = phoenix::common::GetClockNowMs(); phoenix::msg::perception::ObstacleList obstacle_list_proto; pase_proto.EncodeObstacleListMessage(obstacle_list_,&obstacle_list_proto); Int32_t obstacle_list_proto_serialize_size = obstacle_list_proto.ByteSize(); std::shared_ptr<Char_t> obstacle_list_data_array(new Char_t[obstacle_list_proto_serialize_size], std::default_delete<Char_t[]>()); if (!obstacle_list_proto.SerializeToArray(obstacle_list_data_array.get(), obstacle_list_proto_serialize_size)) { LOG_ERR << "Failed to serialize obstacle list message."; } planner.recvPerceptionMessage(obstacle_list_data_array.get(), obstacle_list_proto_serialize_size); planner.recvLaneInfoCameraListMessage(nullptr, 0); phoenix::ad_msg::ParkingSystemStatus parking_system_status_; parking_system_status_.current_mode = phoenix::ad_msg::ParkingMode::CRUISE_MODE; phoenix::msg::parking::ParkingSystemStatus parking_system_status_proto; pase_proto.EncodeParkSystemStatusMessage(parking_system_status_,&parking_system_status_proto); Int32_t parking_system_status_proto_serialize_size = parking_system_status_proto.ByteSize(); std::shared_ptr<Char_t> parking_system_status_data_array(new Char_t[parking_system_status_proto_serialize_size], std::default_delete<Char_t[]>()); if (!parking_system_status_proto.SerializeToArray(parking_system_status_data_array.get(), parking_system_status_proto_serialize_size)) { LOG_ERR << "Failed to serialize parking system status message."; } planner.recvParkSystemStatusMessage(parking_system_status_data_array.get(), parking_system_status_proto_serialize_size); // 然后执行规划输出 const char* output_data; planner.cruiseTrajPlanningOutput(&output_data); // // 最后发送HMI消息 // planner.sendHmiMsg(); std::this_thread::sleep_for(std::chrono::milliseconds(100)); } }); // 主线程等待10秒 std::cout << "Running for 10 seconds...\n"; std::this_thread::sleep_for(std::chrono::seconds(10)); running = false; // 等待所有线程结束 t1.join(); t2.join(); t3.join(); std::cout << "All threads stopped\n"; } } } #endif /usr/bin/ld: CMakeFiles/planning.dir/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp.o: in function `main': CMakeCXXCompilerId.cpp:(.text+0x0): multiple definition of `main'; CMakeFiles/planning.dir/CruPlanningAlgTest.cpp.o:CruPlanningAlgTest.cpp:(.text+0x2b47d): first defined here collect2: error: ld returned 1 exit status make[2]: *** [CMakeFiles/planning.dir/build.make:2679: /home/cobo/shared_dirs/shared/MPA_Planning/planning] Error 1 make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/planning.dir/all] Error 2 编译问题是什么?
最新发布
11-19
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