JmsConsumer1_Topic is not allowed to run in parallel

最新推荐文章于 2022-02-20 22:27:14 发布
原创 最新推荐文章于 2022-02-20 22:27:14 发布 · 383 阅读 · 0 ·
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本文介绍了一种在已有程序基础上，通过编辑配置允许并行运行多个实例的方法。关键步骤是在Model上勾选Allowparallelrun选项，之后即可直接右击项目开启新实例。

运行一个程序时，想要在程序基础上再运行一个实例，但是不能运行

选择你的程序的Edit Configuration，调出如下界面，在自己对应的Model上勾选Allow parallel run

 此时你就可以直接右击项目再开启一个实例

 学习博客：https://blog.youkuaiyun.com/weixin_43526173/article/details/88977697

【人工智能】机器学习的持续交付 （CD4ML）
AI天才研究院
04-29 1万+
机器学习的持续交付 自动化机器学习应用程序的端到端生命周期 机器学习应用程序在我们的行业中变得越来越流行，但是与更传统的软件（例如 Web 服务或移动应用程序）相比，开发、部署和持续改进它们的过程更加复杂。它们会在三个轴上发生变化：代码本身、模型和数据。他们的行为通常很复杂且难以预测，而且他们更难测试、更难解释、更难改进。机器学习持续交付 (CD4ML) 是将持续交付原则和实践引入机器学习应用程序的学科。
‘Client‘ is not allowed to run in parallel.Would you like to stop the running one?
全网粉丝10W+、全栈领域优质创作者、掘金、阿里云等社区博客专家、专注于全栈领域和毕业项目实战
09-23 1127
Idea 一个类运行多次前言：修改Edit ConfigurationAllow multiple instances测试 前言： 当我们学到网络编程的时候，测试的时候要开多个client来测试，但是默认idea一个类只能运行一次。 这时就需要我们自己进行设置 这是默认情况一个类只能运行一次 修改Edit Configuration Allow multiple instances 测试 ...
PyCharm：*** is not allowed to run in parallel.
码农小麦
12-14 5599
pycharm不能同时执行多个应用程序，如下图所示： 打开目标程序的Edit Configurations…: 选择允许同时执行即可。
pycharm弹出‘X‘ is not allowed to run in parallel. Would you like to stop the running one?
qq_41721166的博客
11-22 1万+
运行python脚本时遇到如下问题 解决办法如下： 1.点击pycharm右上角下拉框，选择Edit Configurations，如下图： 2.在弹出窗口右上角勾选Allow parallel run，点击ok即可
Idea报错：is not allowed to run in parallel
123木头人！
08-01 1万+
如图， 解决： Allow parallel run，选中，即可运行多个实例。
IDEA弹出'xxx' is not allowed to run in parallel. Would you like to stop the running one?
sky198989的博客
01-14 3801
转载：https://blog.csdn.net/weixin_43526173/article/details/88977697
EPRobot@EPRobot:~/robot_ws$ roscd usb_cam EPRobot@EPRobot:/opt/ros/melodic/share/usb_cam$ source/opt/ros/melodic/setup.bash bash: source/opt/ros/melodic/setup.bash: No such file or directory EPRobot@EPRobot:/opt/ros/melodic/share/usb_cam$ cd ~/robot_ws EPRobot@EPRobot:~/robot_ws$ source devel/setup.bash EPRobot@EPRobot:~/robot_ws$ roslaunch eprobot_start one_car_start.launch ... logging to /home/EPRobot/.ros/log/99f833d2-6236-11f0-a6b3-e45f0131f240/roslaunch-EPRobot-14068.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://EPRobot:33445/ SUMMARY ======== CLEAR PARAMETERS * /ekf_se/ PARAMETERS * /amcl/base_frame_id: base_footprint * /amcl/global_frame_id: map * /amcl/gui_publish_rate: 10.0 * /amcl/initial_pose_a: 0.0 * /amcl/initial_pose_x: 0.0 * /amcl/initial_pose_y: 0.0 * /amcl/kld_err: 0.05 * /amcl/kld_z: 0.99 * /amcl/laser_lambda_short: 0.1 * /amcl/laser_likelihood_max_dist: 5.0 * /amcl/laser_max_beams: 60 * /amcl/laser_max_range: 12.0 * /amcl/laser_model_type: likelihood_field * /amcl/laser_sigma_hit: 0.2 * /amcl/laser_z_hit: 0.7 * /amcl/laser_z_max: 0.1 * /amcl/laser_z_rand: 0.3 * /amcl/laser_z_short: 0.1 * /amcl/max_particles: 2000 * /amcl/min_particles: 600 * /amcl/odom_alpha1: 0.2 * /amcl/odom_alpha2: 0.2 * /amcl/odom_alpha3: 0.2 * /amcl/odom_alpha4: 0.2 * /amcl/odom_alpha5: 0.1 * /amcl/odom_frame_id: odom * /amcl/odom_model_type: diff * /amcl/recovery_alpha_fast: 0.2 * /amcl/recovery_alpha_slow: 0.005 * /amcl/resample_interval: 0.4 * /amcl/transform_tolerance: 0.5 * /amcl/update_min_a: 0.05 * /amcl/update_min_d: 0.05 * /amcl/use_map_topic: True * /base_control/base_kd: 0.0 * /base_control/base_ki: 100.0 * /base_control/base_kp: 1000.0 * /base_control/base_kv: 1.0 * /base_control/is_send_anger: false * /camera_uri: http://192.168.3.... * /ekf_se/base_link_frame: /base_footprint * /ekf_se/debug: False * /ekf_se/debug_out_file: /path/to/debug/fi... * /ekf_se/frequency: 30 * /ekf_se/imu0: /imu_data * /ekf_se/imu0_config: [False, False, Fa... * /ekf_se/imu0_differential: False * /ekf_se/imu0_nodelay: True * /ekf_se/imu0_pose_rejection_threshold: 0.8 * /ekf_se/imu0_queue_size: 8 * /ekf_se/imu0_relative: True * /ekf_se/imu0_remove_gravitational_acceleration: True * /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ekf_se/map_frame: /map * /ekf_se/odom0: /odom * /ekf_se/odom0_config: [False, False, Fa... * /ekf_se/odom0_differential: False * /ekf_se/odom0_nodelay: True * /ekf_se/odom0_queue_size: 5 * /ekf_se/odom0_relative: True * /ekf_se/odom_frame: /odom * /ekf_se/print_diagnostics: True * /ekf_se/process_noise_covariance: [0.01, 0, 0, 0, 0... * /ekf_se/publish_acceleration: True * /ekf_se/publish_tf: True * /ekf_se/sensor_timeout: 0.025 * /ekf_se/transform_time_offset: 0.0001 * /ekf_se/transform_timeout: 0.025 * /ekf_se/two_d_mode: True * /ekf_se/world_frame: /odom * /image_view/autosize: True * /laser_filter/scan_filter_chain: [{'type': 'laser_... * /lslidar_driver_node/angle_disable_max: 0 * /lslidar_driver_node/angle_disable_min: 0 * /lslidar_driver_node/compensation: False * /lslidar_driver_node/frame_id: base_laser_link * /lslidar_driver_node/high_reflection: False * /lslidar_driver_node/interface_selection: serial * /lslidar_driver_node/lidar_name: M10 * /lslidar_driver_node/max_range: 100.0 * /lslidar_driver_node/min_range: 0.1 * /lslidar_driver_node/pubPointCloud2: False * /lslidar_driver_node/pubScan: True * /lslidar_driver_node/scan_topic: scan * /lslidar_driver_node/serial_port: /dev/EPRobot_laser * /lslidar_driver_node/use_gps_ts: False * /map_server/frame_id: map * /move_base/TebLocalPlannerROS/acc_lim_theta: 0.3 * /move_base/TebLocalPlannerROS/acc_lim_x: 0.2 * /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: True * /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False * /move_base/TebLocalPlannerROS/costmap_converter_plugin: * /move_base/TebLocalPlannerROS/costmap_converter_rate: 5 * /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True * /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 1.0 * /move_base/TebLocalPlannerROS/dt_hysteresis: 0.1 * /move_base/TebLocalPlannerROS/dt_ref: 0.3 * /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.2 * /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: False * /move_base/TebLocalPlannerROS/enable_multithreading: True * /move_base/TebLocalPlannerROS/exact_arc_length: False * /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 3 * /move_base/TebLocalPlannerROS/footprint_model/line_end: [0.1, 0.0] * /move_base/TebLocalPlannerROS/footprint_model/line_start: [-0.1, 0.0] * /move_base/TebLocalPlannerROS/footprint_model/type: line * /move_base/TebLocalPlannerROS/force_reinit_new_goal_dist: 0.5 * /move_base/TebLocalPlannerROS/free_goal_vel: False * /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True * /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: 3.0 * /move_base/TebLocalPlannerROS/h_signature_prescaler: 0.5 * /move_base/TebLocalPlannerROS/h_signature_threshold: 0.1 * /move_base/TebLocalPlannerROS/include_costmap_obstacles: True * /move_base/TebLocalPlannerROS/include_dynamic_obstacles: True * /move_base/TebLocalPlannerROS/inflation_dist: 0.35 * /move_base/TebLocalPlannerROS/is_footprint_dynamic: False * /move_base/TebLocalPlannerROS/legacy_obstacle_association: False * /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 10.0 * /move_base/TebLocalPlannerROS/max_number_classes: 2 * /move_base/TebLocalPlannerROS/max_vel_theta: 1.0 * /move_base/TebLocalPlannerROS/max_vel_x: 0.6 * /move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.3 * /move_base/TebLocalPlannerROS/max_vel_y: 0.0 * /move_base/TebLocalPlannerROS/min_obstacle_dist: 0.55 * /move_base/TebLocalPlannerROS/min_turning_radius: 0.6 * /move_base/TebLocalPlannerROS/no_inner_iterations: 5 * /move_base/TebLocalPlannerROS/no_outer_iterations: 4 * /move_base/TebLocalPlannerROS/obstacle_association_cutoff_factor: 5.0 * /move_base/TebLocalPlannerROS/obstacle_association_force_inclusion_factor: 1.5 * /move_base/TebLocalPlannerROS/obstacle_cost_exponent: 5.5 * /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45 * /move_base/TebLocalPlannerROS/obstacle_keypoint_offset: 0.1 * /move_base/TebLocalPlannerROS/obstacle_poses_affected: 15 * /move_base/TebLocalPlannerROS/odom_topic: odom * /move_base/TebLocalPlannerROS/optimization_activate: True * /move_base/TebLocalPlannerROS/optimization_verbose: False * /move_base/TebLocalPlannerROS/oscillation_recovery: True * /move_base/TebLocalPlannerROS/penalty_epsilon: 0.08 * /move_base/TebLocalPlannerROS/roadmap_graph_area_length_scale: 1.0 * /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5 * /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15 * /move_base/TebLocalPlannerROS/selection_alternative_time_cost: False * /move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0 * /move_base/TebLocalPlannerROS/selection_obst_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/selection_viapoint_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/shrink_horizon_backup: True * /move_base/TebLocalPlannerROS/simple_exploration: False * /move_base/TebLocalPlannerROS/teb_autosize: True * /move_base/TebLocalPlannerROS/via_points_ordered: False * /move_base/TebLocalPlannerROS/visualize_hc_graph: False * /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 1 * /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1 * /move_base/TebLocalPlannerROS/weight_adapt_factor: 1.0 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 100 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 0.6 * /move_base/TebLocalPlannerROS/weight_inflation: 1.0 * /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 800 * /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 6.0 * /move_base/TebLocalPlannerROS/weight_max_vel_theta: 1 * /move_base/TebLocalPlannerROS/weight_max_vel_x: 2 * /move_base/TebLocalPlannerROS/weight_obstacle: 190 * /move_base/TebLocalPlannerROS/weight_optimaltime: 15 * /move_base/TebLocalPlannerROS/weight_shortest_path: 5.0 * /move_base/TebLocalPlannerROS/weight_viapoint: 10.0 * /move_base/TebLocalPlannerROS/wheelbase: 0.3 * /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.1 * /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.1 * /move_base/base_local_planner: teb_local_planner... * /move_base/clearing_rotation_allowed: False * /move_base/conservative_reset_dist: 0.2 * /move_base/controller_frequency: 5.0 * /move_base/controller_patience: 15.0 * /move_base/global_costmap/footprint: [[-0.18, -0.18], ... * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/global_costmap/inflation_layer/enabled: True * /move_base/global_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/global_costmap/inflation_radius: 0.4 * /move_base/global_costmap/laser_scan_sensor/clearing: True * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/global_costmap/laser_scan_sensor/marking: True * /move_base/global_costmap/laser_scan_sensor/topic: scan * /move_base/global_costmap/map_type: costmap * /move_base/global_costmap/observation_sources: laser_scan_sensor * /move_base/global_costmap/obstacle_layer/combination_method: 1 * /move_base/global_costmap/obstacle_layer/enabled: True * /move_base/global_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/global_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/global_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/global_costmap/obstacle_layer/track_unknown_space: False * /move_base/global_costmap/plugins: [{'type': 'costma... * /move_base/global_costmap/publish_frequency: 5.0 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/static_layer/enabled: True * /move_base/global_costmap/static_layer/map_topic: /map * /move_base/global_costmap/static_map: True * /move_base/global_costmap/transform_tolerance: 0.5 * /move_base/global_costmap/update_frequency: 5.0 * /move_base/local_costmap/cost_scaling_factor: 10 * /move_base/local_costmap/footprint: [[-0.18, -0.18], ... * /move_base/local_costmap/global_frame: map * /move_base/local_costmap/height: 3 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/local_costmap/inflation_layer/enabled: True * /move_base/local_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/local_costmap/inflation_radius: 0.16 * /move_base/local_costmap/laser_scan_sensor/clearing: True * /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/local_costmap/laser_scan_sensor/marking: True * /move_base/local_costmap/laser_scan_sensor/topic: scan * /move_base/local_costmap/map_type: costmap * /move_base/local_costmap/observation_sources: laser_scan_sensor * /move_base/local_costmap/obstacle_layer/combination_method: 1 * /move_base/local_costmap/obstacle_layer/enabled: True * /move_base/local_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/local_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/local_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/local_costmap/obstacle_layer/track_unknown_space: False * /move_base/local_costmap/plugins: [{'type': 'costma... * /move_base/local_costmap/publish_frequency: 5.0 * /move_base/local_costmap/resolution: 0.05 * /move_base/local_costmap/robot_base_frame: base_footprint * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/static_layer/enabled: True * /move_base/local_costmap/static_layer/map_topic: /map * /move_base/local_costmap/static_map: False * /move_base/local_costmap/transform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 5.0 * /move_base/local_costmap/width: 3 * /move_base/oscillation_distance: 0.2 * /move_base/oscillation_timeout: 10.0 * /move_base/planner_frequency: 1.0 * /move_base/planner_patience: 5.0 * /robot_description: <?xml version="1.... * /rosdistro: melodic * /rosversion: 1.14.13 * /time0: 5.0 * /time1: 15.0 * /time2: 2.0 * /time3: 10.0 * /time4: 2.0 * /time5: 5.0 * /usb_cam/camera_frame_id: usb_cam * /usb_cam/color_format: yuv422p * /usb_cam/image_height: 960 * /usb_cam/image_width: 1280 * /usb_cam/io_method: mmap * /usb_cam/pixel_format: yuyv * /usb_cam/video_device: /dev/video0 NODES / amcl (amcl/amcl) base_control (eprobot_start/art_racecar.py) base_to_camera (tf/static_transform_publisher) base_to_gyro (tf/static_transform_publisher) base_to_laser (tf/static_transform_publisher) base_to_link (tf/static_transform_publisher) ekf_se (robot_localization/ekf_localization_node) image_view (image_view/image_view) joint_state_publisher (joint_state_publisher/joint_state_publisher) laser_filter (laser_filters/scan_to_scan_filter_chain) lslidar_driver_node (lslidar_driver/lslidar_driver_node) map_server (map_server/map_server) move_base (move_base/move_base) one_car_start (eprobot_start/one_car_start.py) robot_state_publisher (robot_state_publisher/robot_state_publisher) usb_cam (usb_cam/usb_cam_node) auto-starting new master process[master]: started with pid [14090] ROS_MASTER_URI=http://EPRobot:11311 setting /run_id to 99f833d2-6236-11f0-a6b3-e45f0131f240 process[rosout-1]: started with pid [14119] started core service [/rosout] process[usb_cam-2]: started with pid [14127] [ INFO] [1752664718.321383044]: using default calibration URL [ INFO] [1752664718.324520524]: camera calibration URL: file:///home/EPRobot/.ros/camera_info/head_camera.yaml [ INFO] [1752664718.326800107]: Starting 'head_camera' (/dev/video0) at 1280x960 via mmap (yuyv) at 30 FPS [ WARN] [1752664718.735313971]: unknown control 'focus_auto' process[image_view-3]: started with pid [14141] [ INFO] [1752664719.297416290]: Initializing nodelet with 4 worker threads. [ INFO] [1752664719.636365059]: Using transport "raw" Unable to init server: Could not connect: Connection refused (image_raw:14141): Gtk-WARNING **: 19:18:39.655: cannot open display: process[base_to_link-4]: started with pid [14162] [image_view-3] process has died [pid 14141, exit code -7, cmd /opt/ros/melodic/lib/image_view/image_view image:=/usb_cam/image_raw __name:=image_view __log:=/home/EPRobot/.ros/log/99f833d2-6236-11f0-a6b3-e45f0131f240/image_view-3.log]. log file: /home/EPRobot/.ros/log/99f833d2-6236-11f0-a6b3-e45f0131f240/image_view-3*.log process[base_to_gyro-5]: started with pid [14179] process[base_to_laser-6]: started with pid [14185] process[base_to_camera-7]: started with pid [14207] process[joint_state_publisher-8]: started with pid [14230] process[robot_state_publisher-9]: started with pid [14236] /opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal if resource_name in files: process[base_control-10]: started with pid [14254] process[lslidar_driver_node-11]: started with pid [14290] [ INFO] [1752664729.962119437]: Lidar is M10 [ INFO] [1752664729.966360145]: Opening PCAP file port = /dev/EPRobot_laser, baud_rate = 460800 open_port /dev/EPRobot_laser OK ! [ INFO] [1752664729.975351998]: Initialised lslidar without error process[laser_filter-12]: started with pid [14294] [ INFO] [1752664731.668764248]: clear_inside(!invert): true [INFO] [1752664731.987782]: base control start... [INFO] [1752664732.050161]: LaserMode : Express [INFO] [1752664732.054070]: is_pub_odom_tf : false [INFO] [1752664732.058682]: is_send_anger : false [INFO] [1752664732.064063]: Opening Serial [INFO] [1752664732.068745]: Serial Open Succeed process[map_server-13]: started with pid [14302] process[amcl-14]: started with pid [14345] [ INFO] [1752664734.603713766]: Subscribed to map topic. process[move_base-15]: started with pid [14392] [ INFO] [1752664738.288776006]: Received a 113 X 155 map @ 0.050 m/pix [ INFO] [1752664738.342521599]: Initializing likelihood field model; this can take some time on large maps... [ INFO] [1752664738.564463605]: Done initializing likelihood field model. process[ekf_se-16]: started with pid [14487] ERROR: cannot launch node of type [eprobot_start/one_car_start.py]: Cannot locate node of type [one_car_start.py] in package [eprobot_start]. Make sure file exists in package path and permission is set to executable (chmod +x) [ WARN] [1752664744.622110021]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_footprint does not exist.. canTransform returned after 0.100855 timeout was 0.1. [ WARN] [1752664749.662226961]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100879 timeout was 0.1. [ WARN] [1752664750.045300032]: No laser scan received (and thus no pose updates have been published) for 1752664750.045188 seconds. Verify that data is being published on the /scan_filtered topic. [ WARN] [1752664750.909388277]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1752664750.910831334]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ INFO] [1752664750.913784170]: global_costmap: Using plugin "static_layer" [ INFO] [1752664750.939597140]: Requesting the map... [ INFO] [1752664752.449678715]: Resizing costmap to 113 X 155 at 0.050000 m/pix [ INFO] [1752664752.547678812]: Received a 113 X 155 map at 0.050000 m/pix [ INFO] [1752664752.561273484]: global_costmap: Using plugin "obstacle_layer" [ INFO] [1752664752.575820460]: Subscribed to Topics: [ INFO] [1752664752.633974493]: global_costmap: Using plugin "inflation_layer" [ WARN] [1752664752.791761769]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1752664752.792967329]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ INFO] [1752664752.796072737]: local_costmap: Using plugin "static_layer" [ INFO] [1752664752.811786347]: Requesting the map... [ INFO] [1752664752.817690388]: Resizing static layer to 113 X 155 at 0.050000 m/pix [ INFO] [1752664752.917396353]: Received a 113 X 155 map at 0.050000 m/pix [ INFO] [1752664752.929664634]: local_costmap: Using plugin "obstacle_layer" [ INFO] [1752664752.939666756]: Subscribed to Topics: [ INFO] [1752664752.965128769]: local_costmap: Using plugin "inflation_layer" [ INFO] [1752664753.095626908]: Created local_planner teb_local_planner/TebLocalPlannerROS [ INFO] [1752664753.341522310]: Footprint model 'line' (line_start: [-0.1,0]m, line_end: [0.1,0]m) loaded for trajectory optimization. [ INFO] [1752664753.342274171]: Parallel planning in distinctive topologies disabled. [ INFO] [1752664753.342459132]: No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles. [ INFO] [1752664754.285150804]: Recovery behavior will clear layer 'obstacles' [ INFO] [1752664754.293909996]: Recovery behavior will clear layer 'obstacles' [ INFO] [1752664754.905121673]: odom received! ^C[ekf_se-16] killing on exit [move_base-15] killing on exit [amcl-14] killing on exit [map_server-13] killing on exit [laser_filter-12] killing on exit [lslidar_driver_node-11] killing on exit [base_control-10] killing on exit [joint_state_publisher-8] killing on exit [robot_state_publisher-9] killing on exit [base_to_camera-7] killing on exit ^C[base_to_laser-6] killing on exit lslidar_driver_node: /usr/include/boost/thread/pthread/condition_variable_fwd.hpp:116: boost::condition_variable::~condition_variable(): Assertion `!ret' failed. [base_to_gyro-5] killing on exit [base_to_link-4] killing on exit ^C[usb_cam-2] killing on exit ^C^C^C^C^C^C[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
07-17
Make sure file exists in package path and permission is set to executable (chmod +x)` 2. 多个警告，如`Timed out waiting for transform from base_footprint to map`和`No laser scan received` 我们将...
EPRobot@EPRobot:~/robot_ws$ roslaunch eprobot_start one_car_start.launch RLException: [one_car_start.launch] is neither a launch file in package [eprobot_start] nor is [eprobot_start] a launch file name The traceback for the exception was written to the log file EPRobot@EPRobot:~/robot_ws$ roscd usb_cam EPRobot@EPRobot:/opt/ros/melodic/share/usb_cam$ source/opt/ros/melodic/setup.bash bash: source/opt/ros/melodic/setup.bash: No such file or directory EPRobot@EPRobot:/opt/ros/melodic/share/usb_cam$ cd ~/robot_ws EPRobot@EPRobot:~/robot_ws$ source devel/setup.bash EPRobot@EPRobot:~/robot_ws$ roslaunch eprobot_start one_car_start.launch ... logging to /home/EPRobot/.ros/log/a30ae94a-6238-11f0-a6b3-e45f0131f240/roslaunch-EPRobot-17982.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://EPRobot:33373/ SUMMARY ======== CLEAR PARAMETERS * /ekf_se/ PARAMETERS * /amcl/base_frame_id: base_footprint * /amcl/global_frame_id: map * /amcl/gui_publish_rate: 10.0 * /amcl/initial_pose_a: 0.0 * /amcl/initial_pose_x: 0.0 * /amcl/initial_pose_y: 0.0 * /amcl/kld_err: 0.05 * /amcl/kld_z: 0.99 * /amcl/laser_lambda_short: 0.1 * /amcl/laser_likelihood_max_dist: 5.0 * /amcl/laser_max_beams: 60 * /amcl/laser_max_range: 12.0 * /amcl/laser_model_type: likelihood_field * /amcl/laser_sigma_hit: 0.2 * /amcl/laser_z_hit: 0.7 * /amcl/laser_z_max: 0.1 * /amcl/laser_z_rand: 0.3 * /amcl/laser_z_short: 0.1 * /amcl/max_particles: 2000 * /amcl/min_particles: 600 * /amcl/odom_alpha1: 0.2 * /amcl/odom_alpha2: 0.2 * /amcl/odom_alpha3: 0.2 * /amcl/odom_alpha4: 0.2 * /amcl/odom_alpha5: 0.1 * /amcl/odom_frame_id: odom * /amcl/odom_model_type: diff * /amcl/recovery_alpha_fast: 0.2 * /amcl/recovery_alpha_slow: 0.005 * /amcl/resample_interval: 0.4 * /amcl/transform_tolerance: 0.5 * /amcl/update_min_a: 0.05 * /amcl/update_min_d: 0.05 * /amcl/use_map_topic: True * /base_control/base_kd: 0.0 * /base_control/base_ki: 100.0 * /base_control/base_kp: 1000.0 * /base_control/base_kv: 1.0 * /base_control/is_send_anger: false * /camera_uri: http://192.168.3.... * /ekf_se/base_link_frame: /base_footprint * /ekf_se/debug: False * /ekf_se/debug_out_file: /path/to/debug/fi... * /ekf_se/frequency: 30 * /ekf_se/imu0: /imu_data * /ekf_se/imu0_config: [False, False, Fa... * /ekf_se/imu0_differential: False * /ekf_se/imu0_nodelay: True * /ekf_se/imu0_pose_rejection_threshold: 0.8 * /ekf_se/imu0_queue_size: 8 * /ekf_se/imu0_relative: True * /ekf_se/imu0_remove_gravitational_acceleration: True * /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ekf_se/map_frame: /map * /ekf_se/odom0: /odom * /ekf_se/odom0_config: [False, False, Fa... * /ekf_se/odom0_differential: False * /ekf_se/odom0_nodelay: True * /ekf_se/odom0_queue_size: 5 * /ekf_se/odom0_relative: True * /ekf_se/odom_frame: /odom * /ekf_se/print_diagnostics: True * /ekf_se/process_noise_covariance: [0.01, 0, 0, 0, 0... * /ekf_se/publish_acceleration: True * /ekf_se/publish_tf: True * /ekf_se/sensor_timeout: 0.025 * /ekf_se/transform_time_offset: 0.0001 * /ekf_se/transform_timeout: 0.025 * /ekf_se/two_d_mode: True * /ekf_se/world_frame: /odom * /image_view/autosize: True * /laser_filter/scan_filter_chain: [{'type': 'laser_... * /lslidar_driver_node/angle_disable_max: 0 * /lslidar_driver_node/angle_disable_min: 0 * /lslidar_driver_node/compensation: False * /lslidar_driver_node/frame_id: base_laser_link * /lslidar_driver_node/high_reflection: False * /lslidar_driver_node/interface_selection: serial * /lslidar_driver_node/lidar_name: M10 * /lslidar_driver_node/max_range: 100.0 * /lslidar_driver_node/min_range: 0.1 * /lslidar_driver_node/pubPointCloud2: False * /lslidar_driver_node/pubScan: True * /lslidar_driver_node/scan_topic: scan * /lslidar_driver_node/serial_port: /dev/EPRobot_laser * /lslidar_driver_node/use_gps_ts: False * /map_server/frame_id: map * /move_base/TebLocalPlannerROS/acc_lim_theta: 0.3 * /move_base/TebLocalPlannerROS/acc_lim_x: 0.2 * /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: True * /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False * /move_base/TebLocalPlannerROS/costmap_converter_plugin: * /move_base/TebLocalPlannerROS/costmap_converter_rate: 5 * /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True * /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 1.0 * /move_base/TebLocalPlannerROS/dt_hysteresis: 0.1 * /move_base/TebLocalPlannerROS/dt_ref: 0.3 * /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.2 * /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: False * /move_base/TebLocalPlannerROS/enable_multithreading: True * /move_base/TebLocalPlannerROS/exact_arc_length: False * /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 3 * /move_base/TebLocalPlannerROS/footprint_model/line_end: [0.1, 0.0] * /move_base/TebLocalPlannerROS/footprint_model/line_start: [-0.1, 0.0] * /move_base/TebLocalPlannerROS/footprint_model/type: line * /move_base/TebLocalPlannerROS/force_reinit_new_goal_dist: 0.5 * /move_base/TebLocalPlannerROS/free_goal_vel: False * /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True * /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: 3.0 * /move_base/TebLocalPlannerROS/h_signature_prescaler: 0.5 * /move_base/TebLocalPlannerROS/h_signature_threshold: 0.1 * /move_base/TebLocalPlannerROS/include_costmap_obstacles: True * /move_base/TebLocalPlannerROS/include_dynamic_obstacles: True * /move_base/TebLocalPlannerROS/inflation_dist: 0.35 * /move_base/TebLocalPlannerROS/is_footprint_dynamic: False * /move_base/TebLocalPlannerROS/legacy_obstacle_association: False * /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 10.0 * /move_base/TebLocalPlannerROS/max_number_classes: 2 * /move_base/TebLocalPlannerROS/max_vel_theta: 1.0 * /move_base/TebLocalPlannerROS/max_vel_x: 0.6 * /move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.3 * /move_base/TebLocalPlannerROS/max_vel_y: 0.0 * /move_base/TebLocalPlannerROS/min_obstacle_dist: 0.55 * /move_base/TebLocalPlannerROS/min_turning_radius: 0.6 * /move_base/TebLocalPlannerROS/no_inner_iterations: 5 * /move_base/TebLocalPlannerROS/no_outer_iterations: 4 * /move_base/TebLocalPlannerROS/obstacle_association_cutoff_factor: 5.0 * /move_base/TebLocalPlannerROS/obstacle_association_force_inclusion_factor: 1.5 * /move_base/TebLocalPlannerROS/obstacle_cost_exponent: 5.5 * /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45 * /move_base/TebLocalPlannerROS/obstacle_keypoint_offset: 0.1 * /move_base/TebLocalPlannerROS/obstacle_poses_affected: 15 * /move_base/TebLocalPlannerROS/odom_topic: odom * /move_base/TebLocalPlannerROS/optimization_activate: True * /move_base/TebLocalPlannerROS/optimization_verbose: False * /move_base/TebLocalPlannerROS/oscillation_recovery: True * /move_base/TebLocalPlannerROS/penalty_epsilon: 0.08 * /move_base/TebLocalPlannerROS/roadmap_graph_area_length_scale: 1.0 * /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5 * /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15 * /move_base/TebLocalPlannerROS/selection_alternative_time_cost: False * /move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0 * /move_base/TebLocalPlannerROS/selection_obst_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/selection_viapoint_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/shrink_horizon_backup: True * /move_base/TebLocalPlannerROS/simple_exploration: False * /move_base/TebLocalPlannerROS/teb_autosize: True * /move_base/TebLocalPlannerROS/via_points_ordered: False * /move_base/TebLocalPlannerROS/visualize_hc_graph: False * /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 1 * /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1 * /move_base/TebLocalPlannerROS/weight_adapt_factor: 1.0 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 100 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 0.6 * /move_base/TebLocalPlannerROS/weight_inflation: 1.0 * /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 800 * /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 6.0 * /move_base/TebLocalPlannerROS/weight_max_vel_theta: 1 * /move_base/TebLocalPlannerROS/weight_max_vel_x: 2 * /move_base/TebLocalPlannerROS/weight_obstacle: 190 * /move_base/TebLocalPlannerROS/weight_optimaltime: 15 * /move_base/TebLocalPlannerROS/weight_shortest_path: 5.0 * /move_base/TebLocalPlannerROS/weight_viapoint: 10.0 * /move_base/TebLocalPlannerROS/wheelbase: 0.3 * /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.1 * /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.1 * /move_base/base_local_planner: teb_local_planner... * /move_base/clearing_rotation_allowed: False * /move_base/conservative_reset_dist: 0.2 * /move_base/controller_frequency: 5.0 * /move_base/controller_patience: 15.0 * /move_base/global_costmap/footprint: [[-0.18, -0.18], ... * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/global_costmap/inflation_layer/enabled: True * /move_base/global_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/global_costmap/inflation_radius: 0.4 * /move_base/global_costmap/laser_scan_sensor/clearing: True * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/global_costmap/laser_scan_sensor/marking: True * /move_base/global_costmap/laser_scan_sensor/topic: scan * /move_base/global_costmap/map_type: costmap * /move_base/global_costmap/observation_sources: laser_scan_sensor * /move_base/global_costmap/obstacle_layer/combination_method: 1 * /move_base/global_costmap/obstacle_layer/enabled: True * /move_base/global_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/global_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/global_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/global_costmap/obstacle_layer/track_unknown_space: False * /move_base/global_costmap/plugins: [{'type': 'costma... * /move_base/global_costmap/publish_frequency: 5.0 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/static_layer/enabled: True * /move_base/global_costmap/static_layer/map_topic: /map * /move_base/global_costmap/static_map: True * /move_base/global_costmap/transform_tolerance: 0.5 * /move_base/global_costmap/update_frequency: 5.0 * /move_base/local_costmap/cost_scaling_factor: 10 * /move_base/local_costmap/footprint: [[-0.18, -0.18], ... * /move_base/local_costmap/global_frame: map * /move_base/local_costmap/height: 3 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/local_costmap/inflation_layer/enabled: True * /move_base/local_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/local_costmap/inflation_radius: 0.16 * /move_base/local_costmap/laser_scan_sensor/clearing: True * /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/local_costmap/laser_scan_sensor/marking: True * /move_base/local_costmap/laser_scan_sensor/topic: scan * /move_base/local_costmap/map_type: costmap * /move_base/local_costmap/observation_sources: laser_scan_sensor * /move_base/local_costmap/obstacle_layer/combination_method: 1 * /move_base/local_costmap/obstacle_layer/enabled: True * /move_base/local_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/local_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/local_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/local_costmap/obstacle_layer/track_unknown_space: False * /move_base/local_costmap/plugins: [{'type': 'costma... * /move_base/local_costmap/publish_frequency: 5.0 * /move_base/local_costmap/resolution: 0.05 * /move_base/local_costmap/robot_base_frame: base_footprint * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/static_layer/enabled: True * /move_base/local_costmap/static_layer/map_topic: /map * /move_base/local_costmap/static_map: False * /move_base/local_costmap/transform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 5.0 * /move_base/local_costmap/width: 3 * /move_base/oscillation_distance: 0.2 * /move_base/oscillation_timeout: 10.0 * /move_base/planner_frequency: 1.0 * /move_base/planner_patience: 5.0 * /robot_description: <?xml version="1.... * /rosdistro: melodic * /rosversion: 1.14.13 * /time0: 5.0 * /time1: 15.0 * /time2: 2.0 * /time3: 10.0 * /time4: 2.0 * /time5: 5.0 * /usb_cam/camera_frame_id: usb_cam * /usb_cam/color_format: yuv422p * /usb_cam/image_height: 960 * /usb_cam/image_width: 1280 * /usb_cam/io_method: mmap * /usb_cam/pixel_format: yuyv * /usb_cam/video_device: /dev/video0 NODES / amcl (amcl/amcl) base_control (eprobot_start/art_racecar.py) base_to_camera (tf/static_transform_publisher) base_to_gyro (tf/static_transform_publisher) base_to_laser (tf/static_transform_publisher) base_to_link (tf/static_transform_publisher) ekf_se (robot_localization/ekf_localization_node) image_view (image_view/image_view) joint_state_publisher (joint_state_publisher/joint_state_publisher) laser_filter (laser_filters/scan_to_scan_filter_chain) lslidar_driver_node (lslidar_driver/lslidar_driver_node) map_server (map_server/map_server) move_base (move_base/move_base) one_car_start (eprobot_start/one_car_start.py) robot_state_publisher (robot_state_publisher/robot_state_publisher) usb_cam (usb_cam/usb_cam_node) auto-starting new master process[master]: started with pid [18007] ROS_MASTER_URI=http://EPRobot:11311 setting /run_id to a30ae94a-6238-11f0-a6b3-e45f0131f240 process[rosout-1]: started with pid [18036] started core service [/rosout] process[usb_cam-2]: started with pid [18044] [ INFO] [1752665592.551043558]: using default calibration URL [ INFO] [1752665592.553847212]: camera calibration URL: file:///home/EPRobot/.ros/camera_info/head_camera.yaml [ INFO] [1752665592.556473700]: Starting 'head_camera' (/dev/video0) at 1280x960 via mmap (yuyv) at 30 FPS [ WARN] [1752665592.957506786]: unknown control 'focus_auto' process[image_view-3]: started with pid [18045] [ INFO] [1752665593.512472201]: Initializing nodelet with 4 worker threads. [ INFO] [1752665593.840816897]: Using transport "raw" Unable to init server: Could not connect: Connection refused (image_raw:18045): Gtk-WARNING **: 19:33:13.864: cannot open display: process[base_to_link-4]: started with pid [18075] [image_view-3] process has died [pid 18045, exit code -7, cmd /opt/ros/melodic/lib/image_view/image_view image:=/usb_cam/image_raw __name:=image_view __log:=/home/EPRobot/.ros/log/a30ae94a-6238-11f0-a6b3-e45f0131f240/image_view-3.log]. log file: /home/EPRobot/.ros/log/a30ae94a-6238-11f0-a6b3-e45f0131f240/image_view-3*.log process[base_to_gyro-5]: started with pid [18099] process[base_to_laser-6]: started with pid [18105] process[base_to_camera-7]: started with pid [18126] process[joint_state_publisher-8]: started with pid [18147] process[robot_state_publisher-9]: started with pid [18153] /opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal if resource_name in files: process[base_control-10]: started with pid [18161] process[lslidar_driver_node-11]: started with pid [18189] [ INFO] [1752665604.408543108]: Lidar is M10 [ INFO] [1752665604.417763268]: Opening PCAP file port = /dev/EPRobot_laser, baud_rate = 460800 open_port /dev/EPRobot_laser OK ! [ INFO] [1752665604.439961572]: Initialised lslidar without error process[laser_filter-12]: started with pid [18222] [ INFO] [1752665606.151813721]: clear_inside(!invert): true [INFO] [1752665606.246507]: base control start... [INFO] [1752665606.307436]: LaserMode : Express [INFO] [1752665606.311471]: is_pub_odom_tf : false [INFO] [1752665606.315796]: is_send_anger : false [INFO] [1752665606.321303]: Opening Serial [INFO] [1752665606.326045]: Serial Open Succeed process[map_server-13]: started with pid [18227] process[amcl-14]: started with pid [18251] [ INFO] [1752665609.011310833]: Subscribed to map topic. process[move_base-15]: started with pid [18310] process[ekf_se-16]: started with pid [18390] ERROR: cannot launch node of type [eprobot_start/one_car_start.py]: Cannot locate node of type [one_car_start.py] in package [eprobot_start]. Make sure file exists in package path and permission is set to executable (chmod +x) [ INFO] [1752665616.174305503]: Received a 113 X 155 map @ 0.050 m/pix [ INFO] [1752665616.205423819]: Initializing likelihood field model; this can take some time on large maps... [ INFO] [1752665616.270442085]: Done initializing likelihood field model. [ WARN] [1752665618.143772944]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_footprint does not exist.. canTransform returned after 0.100762 timeout was 0.1. [ WARN] [1752665623.183833682]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.10061 timeout was 0.1. [ WARN] [1752665623.323407054]: Transform from IMU_link to base_footprint was unavailable for the time requested. Using latest instead. [ WARN] [1752665623.413433254]: Failed to meet update rate! Took 0.081709157000000004478 [ WARN] [1752665624.443660007]: No laser scan received (and thus no pose updates have been published) for 1752665624.443556 seconds. Verify that data is being published on the /scan_filtered topic. [ WARN] [1752665625.409953355]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1752665625.411781884]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ INFO] [1752665625.415167405]: global_costmap: Using plugin "static_layer" [ INFO] [1752665625.445281261]: Requesting the map... [ INFO] [1752665626.955903833]: Resizing costmap to 113 X 155 at 0.050000 m/pix [ INFO] [1752665627.055200820]: Received a 113 X 155 map at 0.050000 m/pix [ INFO] [1752665627.069865065]: global_costmap: Using plugin "obstacle_layer" [ INFO] [1752665627.082070877]: Subscribed to Topics: [ INFO] [1752665627.145583832]: global_costmap: Using plugin "inflation_layer" [ WARN] [1752665627.343689901]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1752665627.345327986]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ INFO] [1752665627.348535989]: local_costmap: Using plugin "static_layer" [ INFO] [1752665627.370732198]: Requesting the map... [ INFO] [1752665627.379544285]: Resizing static layer to 113 X 155 at 0.050000 m/pix [ INFO] [1752665627.479142660]: Received a 113 X 155 map at 0.050000 m/pix [ INFO] [1752665627.491125862]: local_costmap: Using plugin "obstacle_layer" [ INFO] [1752665627.504742574]: Subscribed to Topics: [ INFO] [1752665627.535601852]: local_costmap: Using plugin "inflation_layer" [ INFO] [1752665627.675945865]: Created local_planner teb_local_planner/TebLocalPlannerROS [ INFO] [1752665627.942681754]: Footprint model 'line' (line_start: [-0.1,0]m, line_end: [0.1,0]m) loaded for trajectory optimization. [ INFO] [1752665627.943831175]: Parallel planning in distinctive topologies disabled. [ INFO] [1752665627.945007558]: No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles. [ INFO] [1752665628.571255277]: Recovery behavior will clear layer 'obstacles' [ INFO] [1752665628.581836263]: Recovery behavior will clear layer 'obstacles' [ INFO] [1752665629.433443492]: odom received!
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