*** Assertion failure in -[UICollectionViewData validateLayoutInRect:], /SourceCache/UIKit_Sim/UIKit

最新推荐文章于 2025-06-30 17:10:31 发布
原创 最新推荐文章于 2025-06-30 17:10:31 发布 · 3.2k 阅读 · 1 ·
CC 4.0 BY-SA版权
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。

当在同一个VC中使用了两个UICollectionView且数据源个数在更新时增多时，可能会引发Assertionfailure错误。解决办法是避免使用相同的flowLayout。

*** Assertion failure in -[UICollectionViewData validateLayoutInRect:], /SourceCache/UIKit_Sim/UIKit-3347.44.2/UICollectionViewData.m:426


把自己遇到的坑记录下来...... 

如果在一个VC中使用了两个UICollectionView, 在使用reloadData更新视图时如果数据源个数多于更新之前的个数,就有可能出现Assertion failure

解决办法就是: 千万不要使用同一个flowLayout!!!

ch3/visualizeGeometry编译报错：/usr/bin/ld: 找不到 -lepoxy::epoxy /usr/bin/ld: 找不到 -lOpenGL::EGL
weixin_43764716的博客
06-06 1687
《视觉SLAM十四讲》ch3/visualizeGeometry编译报错：/usr/bin/ld: 找不到 -lepoxy::epoxy /usr/bin/ld: 找不到 -lOpenGL::EGL
./nptl/pthread_mutex_lock.c:81: __pthread_mutex_lock: Assertion `mutex->__data.__owner == 0' failed
五山口老法师
07-12 7717
#include<iostream> #include<pthread.h> #include<stdlib.h> #include<string.h> #include<unistd.h> #include<errno.h> using namespace std; pthread_cond_t taxiarrive = ...
Assertion failure in -[UICollectionViewData validateLayoutInRect:], /BuildRoot/Library/Caches/com.ap...
weixin_33730836的博客
04-25 505
Assertion failure in -[UICollectionViewData validateLayoutInRect:], /BuildRoot/Library/Caches/com.apple.xbs/Sources/UIKit_Sim/UIKit-3600.7.47/UICollectionViewData.m:433 集成自UICollectionViewLayout 这个类写...
iOS Assertion failure in -[UICollectionViewData validateLayoutInRect:]
weixin_30709061的博客
09-20 799
使用UICollectionView时、滚动过程中发现崩溃报上面的错误， 我的使用场景是这样的在tableviewcell上嵌套tableview1然后在tableview1的tableviewcell上嵌套CollectionView。 collectionView滚动过程崩溃 布局与数据不符 原因是布局的缓存 但同样的场景tableview就没有这个问题 解决办法：添加以下...
Assertion failure in -[UICollectionViewData validateLayoutInRect:]
weixin_34138377的博客
01-05 432
2019独角兽企业重金招聘Python工程师标准>>> ...
*** Assertion failure in -[UICollectionViewData validateLayoutInRect:]
xd54622的博客
02-24 6394
感觉这个问题是由于 [self.collectionView reloadData]; [self.collectionView scrollToItemAtIndexPath:[NSIndexPath indexPathForItem:0 inSection:0] atScrollPosition:UICollectionViewScrollPositionCentere
Assertion failure in -[UICollectionViewData validateLayoutInRect:],
sun island的博客
11-09 5639
UICollection 报错 Assertion failure in -[UICollectionViewData validateLayoutInRect:], /BuildRoot/Library/Caches/com.apple.xbs/Sources/UIKit_Sim/UIKit-3512.30.14/UICollectionViewData.m:399 Terminating app
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:102：CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o]
weixin_48093237的博客
05-06 921
将 from /home/lhq/catkin_ws/src/ORB_SLAM2/include/LoopClosing.h:24,中loopclosing文件49行。
解决 Inconsistency detected by ld.so: ../sysdeps/x86_64/dl-machine.h: 541: elf_machine_rela_relative
m0_49519917的博客
06-23 2137
完整报错 Inconsistency detected by ld.so: ../sysdeps/x86_64/dl-machine.h: 541: elf_machine_rela_relative: Assertion `ELFW(R_TYPE) (reloc->r_info) == R_X86_64_RELATIVE' failed!此处NAMEHERE替换上图中的libcublas，后续重复步骤2和3，几次之后就好了。进到python排查了一下，发现是torch包崩坏了。1. 重装torch。
Gtk-CRITICAL **: IA__gtk_widget_style_get: assertion ‘GTK_IS_WIDGET (widget)‘ faile
zfjBIT的专栏
12-03 1474
问题： 在python3中使用import cv2后使用cv2.imshow() 报错(python3:6706): Gtk-CRITICAL **: IA__gtk_widget_style_get: assertion ‘GTK_IS_WIDGET (widget)’ failed 分析: 1. 通过cv2.__version__打印发现python3中导入的cv2是4.3.0 2. 通过pkg-config --modversion opencv，输出opencv 版本是3.4.8 因此是py
CollectionView 报UICollectionViewData.m:447 崩溃
码农天后的博客
01-06 1158
程序一直都是好的,今天突然报了这个错 -[UICollectionViewData validateLayoutInRect:], /BuildRoot/Library/Caches/com.apple.xbs/Sources/UIKit/UIKit-3694.4.18/UICollectionViewData.m:447 刚开始还以为是rect的问题那调了半天终于找到了解决的方法:在
Assertion failure in -[UICollectionView layoutSublayersOfLayer:]
kangjianqiang1的博客
05-05 2365
先说下我遇到这个问题的情况： 我是在view上创建了一个Collectionview，它本身的frame是直接用CGRectMake（0, 0, SCREEN_WIDTH, SCREEN_HEIGHT - 64） collectionview实例化的时候注册了自定义的collectionviewCell，在collectionview的协议方法里注册了头视图，头视图没有使用自定义头视图。
Assertion failure in [UICollectionView _createPreparedCellForItem
weixin_34110749的博客
01-26 1331
*** Assertion failure in -[UICollectionView _createPreparedCellForItemAtIndexPath:withLayoutAttributes:applyAttributes:isFocused:notify:], /BuildRoot/Library/Caches/com.apple.xbs/Sources/UIKit/UIKit-3...
错误:Assertion failure in -[UICollectionView _createPreparedSupplementaryViewForElementOfKind:atIndexP
热门推荐
DCSnail-蜗牛
02-23 2万+
错误在使用UICollectionView的时候, 设置collectionView的header或者footer后, 报了以下错误:
ios objective-c 报错 reason: 'UICollectionView must be initialized with a non-nil layout parameter' 解决
qq_41586150的博客
04-10 595
完整报错信息 Terminating app due to uncaught exception 'NSInvalidArgumentException', reason: 'UICollectionView must be initialized with a non-nil layout parameter' 查看是否使用了MJExtension 查看是不是有个数组使用了范型,但是用M...
UICollectionView在xcode16编译闪退问题
qq_15509071的博客
11-28 3309
然后在xcode16运行是会直接闪退的，控制台会显示。问题原因在于，轮播图在自动轮播的时候调用的方法有问题。
*** Assertion failure in -[UICollectionView _dequeueReusableViewOfKind:withIdentifier:forIndexPath:v...
weixin_30821731的博客
02-13 1484
报错提示： *** Assertion failure in -[UICollectionView _dequeueReusableViewOfKind:withIdentifier:forIndexPath:viewCategory:], /SourceCache/UIKit_Sim/UIKit-3318.16.14/UICollectionView.m:3307 *** Te...
*** Assertion failure in -[UICollectionView _createPreparedSupplementaryViewForElementOfKind:atIndex...
bafu2463的博客
12-07 1040
出现此错误的原因就是下面的方法里面 - (UICollectionReusableView *)collectionView:(UICollectionView *)collectionView viewForSupplementaryElementOfKind:(NSString *)kind atIndexPath:(NSIndexPath *)indexPath 不可 allo...
今日份BUG解决
MyLife_New的博客
06-30 292
主要是还有其他的业务逻辑一起，确实是没有在一时间发现是cell获取的问题。记录一下子，以后遇到能第一时间想起来。因为是修改别人的代码，所以还是费了很多时间，试了很多方法都没解决，最后发现是cell获取的方式不对。
elcome to Atlas 200I DK A2 This system is based on Ubuntu 22.04.5 LTS (GNU/Linux 5.10.0+ aarch64) This system is only applicable to individual developers and cannot be used for c By using this system, you have agreed to the Huawei Software License Agreement. Please refer to the agreement for details on https://www.hiascend.com/software/p Reference resources * Home page: https://www.hiascend.com/hardware/developer-kit-a2 * Documentation: https://www.hiascend.com/hardware/developer-kit-a2/resource * Online courses: https://www.hiascend.com/edu/courses * Online experiments: https://www.hiascend.com/zh/edu/experiment * Forum: https://www.hiascend.com/forum/ * Code: https://gitee.com/HUAWEI-ASCEND/ascend-devkit * Documentation: https://help.ubuntu.com * Management: https://landscape.canonical.com * Support: https://ubuntu.com/pro (base) root@davinci-mini:~# davinci-mini0 root@davinci-mini:/# cd racecar/ root@davinci-mini:/racecar# ls RedAndGreen Run_car.sh build_isolated docker-compose.yml nav.sh Run_car.log amcl_nav.launch.log devel_isolated gmapping.sh nav2.log root@davinci-mini:/racecar# bash nav_one.sh ... logging to /root/.ros/log/1ba06f92-cbc5-11f0-be3e-2c52afb5f6d1/roslaunch-davinci-mini-59.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://192.168.5.100:34989/ SUMMARY ======== CLEAR PARAMETERS * /ekf_se/ PARAMETERS * /amcl/base_frame_id: base_footprint * /amcl/first_map_only: True * /amcl/global_frame_id: map * /amcl/gui_publish_rate: 30.0 * /amcl/initial_cov_aa: 0.2 * /amcl/initial_cov_xx: 0.25 * /amcl/initial_cov_yy: 0.25 * /amcl/initial_pose_a: 0.0 * /amcl/initial_pose_x: 0.0 * /amcl/initial_pose_y: 0.0 * /amcl/kld_err: 0.01 * /amcl/kld_z: 0.99 * /amcl/laser_lambda_short: 0.1 * /amcl/laser_likelihood_max_dist: 2.0 * /amcl/laser_max_beams: 30 * /amcl/laser_model_type: likelihood_field * /amcl/laser_sigma_hit: 0.2 * /amcl/laser_z_hit: 0.5 * /amcl/laser_z_max: 0.05 * /amcl/laser_z_rand: 0.5 * /amcl/laser_z_short: 0.05 * /amcl/max_particles: 5000 * /amcl/min_particles: 100 * /amcl/odom_alpha1: 0.2 * /amcl/odom_alpha2: 0.2 * /amcl/odom_alpha3: 0.8 * /amcl/odom_alpha4: 0.2 * /amcl/odom_frame_id: odom * /amcl/odom_model_type: diff * /amcl/recovery_alpha_fast: 0.1 * /amcl/recovery_alpha_slow: 0.0 * /amcl/resample_interval: 2 * /amcl/tf_broadcast: True * /amcl/transform_tolerance: 0.1 * /amcl/update_min_a: 0.1 * /amcl/update_min_d: 0.1 * /amcl/use_map_topic: True * /car_controller/Angle_gain_d: -4.0 * /car_controller/Angle_gain_p: -4.0 * /car_controller/Lfw: 1.5 * /car_controller/Person1: 666 * /car_controller/Person2: 580 * /car_controller/Stopcar: 52 * /car_controller/Stoplight: 43 * /car_controller/Vcmd: 1.5 * /car_controller/baseAngle: 65.0 * /car_controller/baseSpeed: 1670 * /car_controller/first_lap: 100 * /car_controller/goalRadius: 0.7 * /car_controller/second_lap: 510 * /car_controller/vp_max_base: 75 * /car_controller/vp_min: 60 * /ekf_se/base_link_frame: /base_footprint * /ekf_se/debug: False * /ekf_se/debug_out_file: /path/to/debug/fi... * /ekf_se/frequency: 20 * /ekf_se/imu0: /imu_data * /ekf_se/imu0_config: [False, False, Fa... * /ekf_se/imu0_differential: False * /ekf_se/imu0_linear_acceleration_rejection_threshold: 2 * /ekf_se/imu0_nodelay: False * /ekf_se/imu0_pose_rejection_threshold: 2.0 * /ekf_se/imu0_queue_size: 8 * /ekf_se/imu0_relative: True * /ekf_se/imu0_remove_gravitational_acceleration: True * /ekf_se/imu0_twist_rejection_threshold: 2.0 * /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ekf_se/map_frame: /map * /ekf_se/odom0: /rf2o_laser_odome... * /ekf_se/odom0_config: [False, False, Fa... * /ekf_se/odom0_differential: True * /ekf_se/odom0_nodelay: True * /ekf_se/odom0_pose_rejection_threshold: 8 * /ekf_se/odom0_queue_size: 5 * /ekf_se/odom0_twist_rejection_threshold: 4 * /ekf_se/odom1: /encoder_imu_odom * /ekf_se/odom1_config: [True, True, Fals... * /ekf_se/odom1_differential: True * /ekf_se/odom1_nodelay: True * /ekf_se/odom1_queue_size: 5 * /ekf_se/odom1_relative: False * /ekf_se/odom_frame: /odom * /ekf_se/print_diagnostics: False * /ekf_se/process_noise_covariance: [0.25, 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 * /move_base/GlobalPlanner/allow_unknown: True * /move_base/GlobalPlanner/cost_factor: 0.54 * /move_base/GlobalPlanner/default_tolerance: 0.2 * /move_base/GlobalPlanner/lethal_cost: 253 * /move_base/GlobalPlanner/neutral_cost: 21 * /move_base/GlobalPlanner/old_navfn_behavior: False * /move_base/GlobalPlanner/orientation_mode: 0 * /move_base/GlobalPlanner/orientation_window_size: 1 * /move_base/GlobalPlanner/publish_potential: True * /move_base/GlobalPlanner/use_dijkstra: False * /move_base/GlobalPlanner/use_grid_path: True * /move_base/GlobalPlanner/use_quadratic: True * /move_base/GlobalPlanner/visualize_potential: False * /move_base/NavfnROS/allow_unknown: False * /move_base/TebLocalPlannerROS/acc_lim_theta: 60 * /move_base/TebLocalPlannerROS/acc_lim_x: 0.188 * /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: False * /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False * /move_base/TebLocalPlannerROS/complete_global_plan: True * /move_base/TebLocalPlannerROS/costmap_converter_plugin: * /move_base/TebLocalPlannerROS/costmap_converter_rate: 8 * /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True * /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 0.1 * /move_base/TebLocalPlannerROS/delete_detours_backwards: True * /move_base/TebLocalPlannerROS/dt_hysteresis: 0.05 * /move_base/TebLocalPlannerROS/dt_ref: 0.21 * /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.1 * /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: True * /move_base/TebLocalPlannerROS/enable_multithreading: False * /move_base/TebLocalPlannerROS/exact_arc_length: True * /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 10 * /move_base/TebLocalPlannerROS/footprint_model: polygon * /move_base/TebLocalPlannerROS/free_goal_vel: True * /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True * /move_base/TebLocalPlannerROS/global_plan_prune_distance: 1 * /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: -1 * /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: 0.62 * /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 4.0 * /move_base/TebLocalPlannerROS/max_number_classes: 5 * /move_base/TebLocalPlannerROS/max_ratio_detours_duration_best_duration: 3.0 * /move_base/TebLocalPlannerROS/max_samples: 500 * /move_base/TebLocalPlannerROS/max_vel_theta: 85 * /move_base/TebLocalPlannerROS/max_vel_x: 3 * /move_base/TebLocalPlannerROS/max_vel_x_backwards: 1.2 * /move_base/TebLocalPlannerROS/max_vel_y: 0.288 * /move_base/TebLocalPlannerROS/min_turning_radius: 0.01 * /move_base/TebLocalPlannerROS/no_inner_iterations: -1 * /move_base/TebLocalPlannerROS/no_outer_iterations: -1 * /move_base/TebLocalPlannerROS/obstacle_cost_exponent: -1 * /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45 * /move_base/TebLocalPlannerROS/obstacle_poses_affected: 20 * /move_base/TebLocalPlannerROS/odom_topic: odom * /move_base/TebLocalPlannerROS/optimization_activate: True * /move_base/TebLocalPlannerROS/optimization_verbose: False * /move_base/TebLocalPlannerROS/oscillation_filter_duration: 10 * /move_base/TebLocalPlannerROS/oscillation_omega_eps: 10 * /move_base/TebLocalPlannerROS/oscillation_recovery: False * /move_base/TebLocalPlannerROS/oscillation_recovery_min_duration: 20 * /move_base/TebLocalPlannerROS/oscillation_v_eps: 10 * /move_base/TebLocalPlannerROS/penalty_epsilon: 0.01 * /move_base/TebLocalPlannerROS/publish_feedback: False * /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_prefer_initial_plan: 0.95 * /move_base/TebLocalPlannerROS/shrink_horizon_backup: True * /move_base/TebLocalPlannerROS/shrink_horizon_min_duration: 3 * /move_base/TebLocalPlannerROS/switching_blocking_period: 0.0 * /move_base/TebLocalPlannerROS/teb_autosize: True * /move_base/TebLocalPlannerROS/type: polygon * /move_base/TebLocalPlannerROS/vertices: [[-0.175, -0.25],... * /move_base/TebLocalPlannerROS/viapoints_all_candidates: True * /move_base/TebLocalPlannerROS/visualize_hc_graph: True * /move_base/TebLocalPlannerROS/visualize_with_time_as_z_axis_scale: False * /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 10 * /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1 * /move_base/TebLocalPlannerROS/weight_adapt_factor: 20 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 10 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 5 * /move_base/TebLocalPlannerROS/weight_inflation: 50 * /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 1000 * /move_base/TebLocalPlannerROS/weight_max_vel_theta: 10 * /move_base/TebLocalPlannerROS/weight_max_vel_x: 1 * /move_base/TebLocalPlannerROS/weight_obstacle: 50 * /move_base/TebLocalPlannerROS/weight_optimaltime: 1000 * /move_base/TebLocalPlannerROS/weight_shortest_path: 1 * /move_base/TebLocalPlannerROS/weight_viapoint: 1 * /move_base/TebLocalPlannerROS/wheelbase: 0.335 * /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.01 * /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.03 * /move_base/base_global_planner: navfn/NavfnROS * /move_base/base_local_planner: teb_local_planner... * /move_base/clearing_rotation_allowed: False * /move_base/controller_frequency: 10.0 * /move_base/controller_patience: 6.0 * /move_base/global_costmap/footprint: [[-0.175, -0.25],... * /move_base/global_costmap/footprint_padding: 0.01 * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/height: 25.0 * /move_base/global_costmap/inflation/cost_scaling_factor: 2.0 * /move_base/global_costmap/inflation/inflation_radius: 0. 1 * /move_base/global_costmap/plugins: [{'name': 'static... * /move_base/global_costmap/publish_frequency: 1.0 * /move_base/global_costmap/resolution: 0.05 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/rolling_window: True * /move_base/global_costmap/sensor/laser_scan_sensor/clearing: True * /move_base/global_costmap/sensor/laser_scan_sensor/data_type: LaserScan * /move_base/global_costmap/sensor/laser_scan_sensor/marking: True * /move_base/global_costmap/sensor/laser_scan_sensor/observation_persistence: 0.5 * /move_base/global_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link * /move_base/global_costmap/sensor/laser_scan_sensor/topic: scan * /move_base/global_costmap/sensor/observation_sources: laser_scan_sensor * /move_base/global_costmap/static/map_topic: /map * /move_base/global_costmap/static/subscribe_to_updates: True * /move_base/global_costmap/track_unknown_space: False * /move_base/global_costmap/transform_tolerance: 0.5 * /move_base/global_costmap/update_frequency: 1.0 * /move_base/global_costmap/width: 25.0 * /move_base/local_costmap/footprint: [[-0.175, -0.25],... * /move_base/local_costmap/footprint_padding: 0.01 * /move_base/local_costmap/global_frame: map * /move_base/local_costmap/height: 3.0 * /move_base/local_costmap/inflation/cost_scaling_factor: 6.0 * /move_base/local_costmap/inflation/inflation_radius: 0.1 * /move_base/local_costmap/plugins: [{'name': 'sensor... * /move_base/local_costmap/publish_frequency: 1.0 * /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/sensor/laser_scan_sensor/clearing: True * /move_base/local_costmap/sensor/laser_scan_sensor/data_type: LaserScan * /move_base/local_costmap/sensor/laser_scan_sensor/marking: True * /move_base/local_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link * /move_base/local_costmap/sensor/laser_scan_sensor/topic: scan * /move_base/local_costmap/sensor/observation_sources: laser_scan_sensor * /move_base/local_costmap/track_unknown_space: False * /move_base/local_costmap/transform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 1.0 * /move_base/local_costmap/width: 3.0 * /move_base/oscillation_distance: 0.2 * /move_base/oscillation_timeout: 10.0 * /move_base/planner_frequency: 10.0 * /move_base/planner_patience: 5.0 * /move_base/shutdown_costmaps: False * /rf2o_laser_odometry/base_frame_id: base_footprint * /rf2o_laser_odometry/freq: 20.0 * /rf2o_laser_odometry/laser_scan_topic: scan * /rf2o_laser_odometry/odom_frame_id: odom * /rf2o_laser_odometry/odom_topic: odom_rf2o * /rf2o_laser_odometry/publish_tf: False * /rf2o_laser_odometry/verbose: True * /rosdistro: noetic * /rosversion: 1.15.13 NODES / amcl (amcl/amcl) car_controller (racecar/car_controller_new) ekf_se (robot_localization/ekf_localization_node) map_server (map_server/map_server) move_base (move_base/move_base) rf2o_laser_odometry (rf2o_laser_odometry/rf2o_laser_odometry_node) wheel_odom (encoder_driver/encoder_driver_node1) RLException: run_id on parameter server does not match declared run_id: 1a54deac-cbc5-11f0-9652-2c52afb5f6d1 vs 1ba06f92-cbc5-11f0-be3e-2c52afb5f6d1 The traceback for the exception was written to the log file ROS_MASTER_URI=http://192.168.5.100:11311 2025-11-27 19:13:12+0000 [-] Log opened. 2025-11-27 19:13:12+0000 [-] registered capabilities (classes): 2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.call_service.CallService'> 2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.advertise.Advertise'> 2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.publish.Publish'> 2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.subscribe.Subscribe'> 2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.defragmentation.Defragment'> 2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> 2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> 2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> 2025-11-27 19:13:13+0000 [-] WebSocketServerFactory starting on 9090 2025-11-27 19:13:13+0000 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffca3420a0> 2025-11-27 19:13:13+0000 [-] [INFO] [1764270793.062939]: Rosbridge WebSocket server started at ws://0.0.0.0:9090 ^C终止 ROS 启动进程... lslidar_x10_driver_node: /usr/include/boost/thread/pthread/condition_variable_fwd.hpp:81: boost::condition_variable::~condition_variable(): Assertion `!posix::pthread_mutex_destroy(&internal_mutex)' failed. 2025-11-27 19:14:41+0000 [autobahn.twisted.websocket.WebSocketServerFactory] (TCP Port 9090 Closed) [DEBUG] [1764270791.133628]: init_node, name[/encoder_vel], pid[87] [DEBUG] [1764270791.140349]: binding to 0.0.0.0 0 [DEBUG] [1764270791.143836]: bound to 0.0.0.0 43043 [DEBUG] [1764270791.147385]: ... service URL is rosrpc://192.168.5.100:43043 [DEBUG] [1764270791.150428]: [/encoder_vel/get_loggers]: new Service instance [DEBUG] [1764270791.155703]: ... service URL is rosrpc://192.168.5.100:43043 [DEBUG] [1764270791.158360]: [/encoder_vel/set_logger_level]: new Service instance True 2025-11-27 19:14:41+0000 [-] Stopping factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffca3420a0> 2025-11-27 19:14:41+0000 [-] Main loop terminated. WARNING: ignoring defunct <master /> tag ... logging to /root/.ros/log/1a54deac-cbc5-11f0-9652-2c52afb5f6d1/roslaunch-davinci-mini-53.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://192.168.5.100:39739/ SUMMARY ======== PARAMETERS * /encoder_vel/baud_rate: 57600 * /encoder_vel/k: 0.88 * /encoder_vel/serial_port: /dev/encoder * /lslidar_x10_driver_node/angle_disable_max: 0.0 * /lslidar_x10_driver_node/angle_disable_min: 0.0 * /lslidar_x10_driver_node/child_frame_id: laser_link * /lslidar_x10_driver_node/interface_selection: serial * /lslidar_x10_driver_node/lidar_name: M10 * /lslidar_x10_driver_node/max_range: 100.0 * /lslidar_x10_driver_node/min_range: 0 * /lslidar_x10_driver_node/scan_topic: scan * /lslidar_x10_driver_node/serial_port: /dev/laser * /lslidar_x10_driver_node/use_gps_ts: False * /rosbridge_server/websocket_port: 9090 * /rosdistro: noetic * /rosversion: 1.15.13 NODES / base_footprint2base_link (tf/static_transform_publisher) base_link2imu (tf/static_transform_publisher) base_link2laser_link (tf/static_transform_publisher) encoder_vel (encoder_driver/Encoder_vel.py) imu_sonser_spec (serial_imu/serial_imu) lslidar_x10_driver_node (lslidar_x10_driver/lslidar_x10_driver_node) racecar_driver (racecar_driver/racecar_driver_node) rosbridge_server (rosbridge_server/rosbridge_websocket) auto-starting new master process[master]: started with pid [66] ROS_MASTER_URI=http://192.168.5.100:11311 setting /run_id to 1a54deac-cbc5-11f0-9652-2c52afb5f6d1 process[rosout-1]: started with pid [79] started core service [/rosout] process[base_footprint2base_link-2]: started with pid [82] process[base_link2laser_link-3]: started with pid [83] process[base_link2imu-4]: started with pid [84] process[lslidar_x10_driver_node-5]: started with pid [85] process[imu_sonser_spec-6]: started with pid [86] process[encoder_vel-7]: started with pid [87] process[racecar_driver-8]: started with pid [88] process[rosbridge_server-9]: started with pid [89] [rosbridge_server-9] killing on exit [racecar_driver-8] killing on exit [encoder_vel-7] killing on exit [imu_sonser_spec-6] killing on exit [lslidar_x10_driver_node-5] killing on exit [base_link2imu-4] killing on exit [base_link2laser_link-3] killing on exit [base_footprint2base_link-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done Run_car.launch 进程已终止。 amcl_nav.launch 进程已终止。 root@davinci-mini:/racecar# ^C root@davinci-mini:/racecar# bash nav_one.sh 2025-11-27 19:14:55+0000 [-] Log opened. 2025-11-27 19:14:55+0000 [-] registered capabilities (classes): 2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.call_service.CallService'> 2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.advertise.Advertise'> 2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.publish.Publish'> 2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.subscribe.Subscribe'> 2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.defragmentation.Defragment'> 2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> 2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> 2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> 2025-11-27 19:14:55+0000 [-] WebSocketServerFactory starting on 9090 2025-11-27 19:14:55+0000 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffef3acfd0> 2025-11-27 19:14:55+0000 [-] [INFO] [1764270895.708127]: Rosbridge WebSocket server started at ws://0.0.0.0:9090 ... logging to /root/.ros/log/593a31d0-cbc5-11f0-acbf-2c52afb5f6d1/roslaunch-davinci-mini-235.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://192.168.5.100:35929/ SUMMARY ======== CLEAR PARAMETERS * /ekf_se/ PARAMETERS * /amcl/base_frame_id: base_footprint * /amcl/first_map_only: True * /amcl/global_frame_id: map * /amcl/gui_publish_rate: 30.0 * /amcl/initial_cov_aa: 0.2 * /amcl/initial_cov_xx: 0.25 * /amcl/initial_cov_yy: 0.25 * /amcl/initial_pose_a: 0.0 * /amcl/initial_pose_x: 0.0 * /amcl/initial_pose_y: 0.0 * /amcl/kld_err: 0.01 * /amcl/kld_z: 0.99 * /amcl/laser_lambda_short: 0.1 * /amcl/laser_likelihood_max_dist: 2.0 * /amcl/laser_max_beams: 30 * /amcl/laser_model_type: likelihood_field * /amcl/laser_sigma_hit: 0.2 * /amcl/laser_z_hit: 0.5 * /amcl/laser_z_max: 0.05 * /amcl/laser_z_rand: 0.5 * /amcl/laser_z_short: 0.05 * /amcl/max_particles: 5000 * /amcl/min_particles: 100 * /amcl/odom_alpha1: 0.2 * /amcl/odom_alpha2: 0.2 * /amcl/odom_alpha3: 0.8 * /amcl/odom_alpha4: 0.2 * /amcl/odom_frame_id: odom * /amcl/odom_model_type: diff * /amcl/recovery_alpha_fast: 0.1 * /amcl/recovery_alpha_slow: 0.0 * /amcl/resample_interval: 2 * /amcl/tf_broadcast: True * /amcl/transform_tolerance: 0.1 * /amcl/update_min_a: 0.1 * /amcl/update_min_d: 0.1 * /amcl/use_map_topic: True * /car_controller/Angle_gain_d: -4.0 * /car_controller/Angle_gain_p: -4.0 * /car_controller/Lfw: 1.5 * /car_controller/Person1: 666 * /car_controller/Person2: 580 * /car_controller/Stopcar: 52 * /car_controller/Stoplight: 43 * /car_controller/Vcmd: 1.5 * /car_controller/baseAngle: 65.0 * /car_controller/baseSpeed: 1670 * /car_controller/first_lap: 100 * /car_controller/goalRadius: 0.7 * /car_controller/second_lap: 510 * /car_controller/vp_max_base: 75 * /car_controller/vp_min: 60 * /ekf_se/base_link_frame: /base_footprint * /ekf_se/debug: False * /ekf_se/debug_out_file: /path/to/debug/fi... * /ekf_se/frequency: 20 * /ekf_se/imu0: /imu_data * /ekf_se/imu0_config: [False, False, Fa... * /ekf_se/imu0_differential: False * /ekf_se/imu0_linear_acceleration_rejection_threshold: 2 * /ekf_se/imu0_nodelay: False * /ekf_se/imu0_pose_rejection_threshold: 2.0 * /ekf_se/imu0_queue_size: 8 * /ekf_se/imu0_relative: True * /ekf_se/imu0_remove_gravitational_acceleration: True * /ekf_se/imu0_twist_rejection_threshold: 2.0 * /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ekf_se/map_frame: /map * /ekf_se/odom0: /rf2o_laser_odome... * /ekf_se/odom0_config: [False, False, Fa... * /ekf_se/odom0_differential: True * /ekf_se/odom0_nodelay: True * /ekf_se/odom0_pose_rejection_threshold: 8 * /ekf_se/odom0_queue_size: 5 * /ekf_se/odom0_twist_rejection_threshold: 4 * /ekf_se/odom1: /encoder_imu_odom * /ekf_se/odom1_config: [True, True, Fals... * /ekf_se/odom1_differential: True * /ekf_se/odom1_nodelay: True * /ekf_se/odom1_queue_size: 5 * /ekf_se/odom1_relative: False * /ekf_se/odom_frame: /odom * /ekf_se/print_diagnostics: False * /ekf_se/process_noise_covariance: [0.25, 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 * /move_base/GlobalPlanner/allow_unknown: True * /move_base/GlobalPlanner/cost_factor: 0.54 * /move_base/GlobalPlanner/default_tolerance: 0.2 * /move_base/GlobalPlanner/lethal_cost: 253 * /move_base/GlobalPlanner/neutral_cost: 21 * /move_base/GlobalPlanner/old_navfn_behavior: False * /move_base/GlobalPlanner/orientation_mode: 0 * /move_base/GlobalPlanner/orientation_window_size: 1 * /move_base/GlobalPlanner/publish_potential: True * /move_base/GlobalPlanner/use_dijkstra: False * /move_base/GlobalPlanner/use_grid_path: True * /move_base/GlobalPlanner/use_quadratic: True * /move_base/GlobalPlanner/visualize_potential: False * /move_base/NavfnROS/allow_unknown: False * /move_base/TebLocalPlannerROS/acc_lim_theta: 60 * /move_base/TebLocalPlannerROS/acc_lim_x: 0.188 * /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: False * /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False * /move_base/TebLocalPlannerROS/complete_global_plan: True * /move_base/TebLocalPlannerROS/costmap_converter_plugin: * /move_base/TebLocalPlannerROS/costmap_converter_rate: 8 * /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True * /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 0.1 * /move_base/TebLocalPlannerROS/delete_detours_backwards: True * /move_base/TebLocalPlannerROS/dt_hysteresis: 0.05 * /move_base/TebLocalPlannerROS/dt_ref: 0.21 * /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.1 * /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: True * /move_base/TebLocalPlannerROS/enable_multithreading: False * /move_base/TebLocalPlannerROS/exact_arc_length: True * /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 10 * /move_base/TebLocalPlannerROS/footprint_model: polygon * /move_base/TebLocalPlannerROS/free_goal_vel: True * /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True * /move_base/TebLocalPlannerROS/global_plan_prune_distance: 1 * /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: -1 * /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: 0.62 * /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 4.0 * /move_base/TebLocalPlannerROS/max_number_classes: 5 * /move_base/TebLocalPlannerROS/max_ratio_detours_duration_best_duration: 3.0 * /move_base/TebLocalPlannerROS/max_samples: 500 * /move_base/TebLocalPlannerROS/max_vel_theta: 85 * /move_base/TebLocalPlannerROS/max_vel_x: 3 * /move_base/TebLocalPlannerROS/max_vel_x_backwards: 1.2 * /move_base/TebLocalPlannerROS/max_vel_y: 0.288 * /move_base/TebLocalPlannerROS/min_turning_radius: 0.01 * /move_base/TebLocalPlannerROS/no_inner_iterations: -1 * /move_base/TebLocalPlannerROS/no_outer_iterations: -1 * /move_base/TebLocalPlannerROS/obstacle_cost_exponent: -1 * /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45 * /move_base/TebLocalPlannerROS/obstacle_poses_affected: 20 * /move_base/TebLocalPlannerROS/odom_topic: odom * /move_base/TebLocalPlannerROS/optimization_activate: True * /move_base/TebLocalPlannerROS/optimization_verbose: False * /move_base/TebLocalPlannerROS/oscillation_filter_duration: 10 * /move_base/TebLocalPlannerROS/oscillation_omega_eps: 10 * /move_base/TebLocalPlannerROS/oscillation_recovery: False * /move_base/TebLocalPlannerROS/oscillation_recovery_min_duration: 20 * /move_base/TebLocalPlannerROS/oscillation_v_eps: 10 * /move_base/TebLocalPlannerROS/penalty_epsilon: 0.01 * /move_base/TebLocalPlannerROS/publish_feedback: False * /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_prefer_initial_plan: 0.95 * /move_base/TebLocalPlannerROS/shrink_horizon_backup: True * /move_base/TebLocalPlannerROS/shrink_horizon_min_duration: 3 * /move_base/TebLocalPlannerROS/switching_blocking_period: 0.0 * /move_base/TebLocalPlannerROS/teb_autosize: True * /move_base/TebLocalPlannerROS/type: polygon * /move_base/TebLocalPlannerROS/vertices: [[-0.175, -0.25],... * /move_base/TebLocalPlannerROS/viapoints_all_candidates: True * /move_base/TebLocalPlannerROS/visualize_hc_graph: True * /move_base/TebLocalPlannerROS/visualize_with_time_as_z_axis_scale: False * /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 10 * /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1 * /move_base/TebLocalPlannerROS/weight_adapt_factor: 20 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 10 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 5 * /move_base/TebLocalPlannerROS/weight_inflation: 50 * /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 1000 * /move_base/TebLocalPlannerROS/weight_max_vel_theta: 10 * /move_base/TebLocalPlannerROS/weight_max_vel_x: 1 * /move_base/TebLocalPlannerROS/weight_obstacle: 50 * /move_base/TebLocalPlannerROS/weight_optimaltime: 1000 * /move_base/TebLocalPlannerROS/weight_shortest_path: 1 * /move_base/TebLocalPlannerROS/weight_viapoint: 1 * /move_base/TebLocalPlannerROS/wheelbase: 0.335 * /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.01 * /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.03 * /move_base/base_global_planner: navfn/NavfnROS * /move_base/base_local_planner: teb_local_planner... * /move_base/clearing_rotation_allowed: False * /move_base/controller_frequency: 10.0 * /move_base/controller_patience: 6.0 * /move_base/global_costmap/footprint: [[-0.175, -0.25],... * /move_base/global_costmap/footprint_padding: 0.01 * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/height: 25.0 * /move_base/global_costmap/inflation/cost_scaling_factor: 2.0 * /move_base/global_costmap/inflation/inflation_radius: 0. 1 * /move_base/global_costmap/plugins: [{'name': 'static... * /move_base/global_costmap/publish_frequency: 1.0 * /move_base/global_costmap/resolution: 0.05 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/rolling_window: True * /move_base/global_costmap/sensor/laser_scan_sensor/clearing: True * /move_base/global_costmap/sensor/laser_scan_sensor/data_type: LaserScan * /move_base/global_costmap/sensor/laser_scan_sensor/marking: True * /move_base/global_costmap/sensor/laser_scan_sensor/observation_persistence: 0.5 * /move_base/global_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link * /move_base/global_costmap/sensor/laser_scan_sensor/topic: scan * /move_base/global_costmap/sensor/observation_sources: laser_scan_sensor * /move_base/global_costmap/static/map_topic: /map * /move_base/global_costmap/static/subscribe_to_updates: True * /move_base/global_costmap/track_unknown_space: False * /move_base/global_costmap/transform_tolerance: 0.5 * /move_base/global_costmap/update_frequency: 1.0 * /move_base/global_costmap/width: 25.0 * /move_base/local_costmap/footprint: [[-0.175, -0.25],... * /move_base/local_costmap/footprint_padding: 0.01 * /move_base/local_costmap/global_frame: map * /move_base/local_costmap/height: 3.0 * /move_base/local_costmap/inflation/cost_scaling_factor: 6.0 * /move_base/local_costmap/inflation/inflation_radius: 0.1 * /move_base/local_costmap/plugins: [{'name': 'sensor... * /move_base/local_costmap/publish_frequency: 1.0 * /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/sensor/laser_scan_sensor/clearing: True * /move_base/local_costmap/sensor/laser_scan_sensor/data_type: LaserScan * /move_base/local_costmap/sensor/laser_scan_sensor/marking: True * /move_base/local_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link * /move_base/local_costmap/sensor/laser_scan_sensor/topic: scan * /move_base/local_costmap/sensor/observation_sources: laser_scan_sensor * /move_base/local_costmap/track_unknown_space: False * /move_base/local_costmap/transform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 1.0 * /move_base/local_costmap/width: 3.0 * /move_base/oscillation_distance: 0.2 * /move_base/oscillation_timeout: 10.0 * /move_base/planner_frequency: 10.0 * /move_base/planner_patience: 5.0 * /move_base/shutdown_costmaps: False * /rf2o_laser_odometry/base_frame_id: base_footprint * /rf2o_laser_odometry/freq: 20.0 * /rf2o_laser_odometry/laser_scan_topic: scan * /rf2o_laser_odometry/odom_frame_id: odom * /rf2o_laser_odometry/odom_topic: odom_rf2o * /rf2o_laser_odometry/publish_tf: False * /rf2o_laser_odometry/verbose: True * /rosdistro: noetic * /rosversion: 1.15.13 NODES / amcl (amcl/amcl) car_controller (racecar/car_controller_new) ekf_se (robot_localization/ekf_localization_node) map_server (map_server/map_server) move_base (move_base/move_base) rf2o_laser_odometry (rf2o_laser_odometry/rf2o_laser_odometry_node) wheel_odom (encoder_driver/encoder_driver_node1) [ WARN] [1764270901.074929580]: Failed to meet update rate! Took 0.1020085420000000076 ^C终止 ROS 启动进程... lslidar_x10_driver_node: /usr/include/boost/thread/pthread/condition_variable_fwd.hpp:81: boost::condition_variable::~condition_variable(): Assertion `!posix::pthread_mutex_destroy(&internal_mutex)' failed. [ INFO] [1764270899.968804781]: ?????????????????????????????? [ INFO] [1764270901.013836659]: Subscribed to map topic. [ INFO] [1764270901.452807176]: Received a 608 X 384 map @ 0.050 m/pix [ INFO] [1764270901.485205220]: Initializing likelihood field model; this can take some time on large maps... [ INFO] [1764270901.599203612]: Done initializing likelihood field model. [DEBUG] [1764270895.085141]: init_node, name[/encoder_vel], pid[205] [DEBUG] [1764270895.091976]: binding to 0.0.0.0 0 [DEBUG] [1764270895.095563]: bound to 0.0.0.0 34779 [DEBUG] [1764270895.099010]: ... service URL is rosrpc://192.168.5.100:34779 [DEBUG] [1764270895.102058]: [/encoder_vel/get_loggers]: new Service instance [DEBUG] [1764270895.107122]: ... service URL is rosrpc://192.168.5.100:34779 [DEBUG] [1764270895.109904]: [/encoder_vel/set_logger_level]: new Service instance True 2025-11-27 19:16:49+0000 [autobahn.twisted.websocket.WebSocketServerFactory] (TCP Port 9090 Closed) 2025-11-27 19:16:49+0000 [-] Stopping factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffef3acfd0> 2025-11-27 19:16:49+0000 [-] Main loop terminated. ROS_MASTER_URI=http://192.168.5.100:11311 process[map_server-1]: started with pid [256] process[rf2o_laser_odometry-2]: started with pid [257] process[wheel_odom-3]: started with pid [258] process[ekf_se-4]: started with pid [259] process[amcl-5]: started with pid [266] process[move_base-6]: started with pid [268] process[car_controller-7]: started with pid [269] [car_controller-7] killing on exit [move_base-6] killing on exit [amcl-5] killing on exit [ekf_se-4] killing on exit [map_server-1] killing on exit [wheel_odom-3] killing on exit [rf2o_laser_odometry-2] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done WARNING: ignoring defunct <master /> tag ... logging to /root/.ros/log/593a31d0-cbc5-11f0-acbf-2c52afb5f6d1/roslaunch-davinci-mini-159.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://192.168.5.100:35239/ SUMMARY ======== PARAMETERS * /encoder_vel/baud_rate: 57600 * /encoder_vel/k: 0.88 * /encoder_vel/serial_port: /dev/encoder * /lslidar_x10_driver_node/angle_disable_max: 0.0 * /lslidar_x10_driver_node/angle_disable_min: 0.0 * /lslidar_x10_driver_node/child_frame_id: laser_link * /lslidar_x10_driver_node/interface_selection: serial * /lslidar_x10_driver_node/lidar_name: M10 * /lslidar_x10_driver_node/max_range: 100.0 * /lslidar_x10_driver_node/min_range: 0 * /lslidar_x10_driver_node/scan_topic: scan * /lslidar_x10_driver_node/serial_port: /dev/laser * /lslidar_x10_driver_node/use_gps_ts: False * /rosbridge_server/websocket_port: 9090 * /rosdistro: noetic * /rosversion: 1.15.13 NODES / base_footprint2base_link (tf/static_transform_publisher) base_link2imu (tf/static_transform_publisher) base_link2laser_link (tf/static_transform_publisher) encoder_vel (encoder_driver/Encoder_vel.py) imu_sonser_spec (serial_imu/serial_imu) lslidar_x10_driver_node (lslidar_x10_driver/lslidar_x10_driver_node) racecar_driver (racecar_driver/racecar_driver_node) rosbridge_server (rosbridge_server/rosbridge_websocket) auto-starting new master process[master]: started with pid [169] ROS_MASTER_URI=http://192.168.5.100:11311 setting /run_id to 593a31d0-cbc5-11f0-acbf-2c52afb5f6d1 process[rosout-1]: started with pid [179] started core service [/rosout] process[base_footprint2base_link-2]: started with pid [186] process[base_link2laser_link-3]: started with pid [187] process[base_link2imu-4]: started with pid [188] process[lslidar_x10_driver_node-5]: started with pid [193] process[imu_sonser_spec-6]: started with pid [199] process[encoder_vel-7]: started with pid [205] process[racecar_driver-8]: started with pid [211] process[rosbridge_server-9]: started with pid [217] [rosbridge_server-9] killing on exit [racecar_driver-8] killing on exit [encoder_vel-7] killing on exit [imu_sonser_spec-6] killing on exit [lslidar_x10_driver_node-5] killing on exit [base_footprint2base_link-2] killing on exit [base_link2imu-4] killing on exit [base_link2laser_link-3] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done Run_car.launch 进程已终止。 amcl_nav.launch 进程已终止。 root@davinci-mini:/racecar# bash nav_one.sh 2025-11-27 19:16:56+0000 [-] Log opened. 2025-11-27 19:16:56+0000 [-] registered capabilities (classes): 2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.call_service.CallService'> 2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.advertise.Advertise'> 2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.publish.Publish'> 2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.subscribe.Subscribe'> 2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.defragmentation.Defragment'> 2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> 2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> 2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> 2025-11-27 19:16:57+0000 [-] WebSocketServerFactory starting on 9090 2025-11-27 19:16:57+0000 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffc75d7c70> 2025-11-27 19:16:57+0000 [-] [INFO] [1764271017.157078]: Rosbridge WebSocket server started at ws://0.0.0.0:9090 ... logging to /root/.ros/log/a199425e-cbc5-11f0-86b4-2c52afb5f6d1/roslaunch-davinci-mini-476.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://192.168.5.100:43287/ SUMMARY ======== CLEAR PARAMETERS * /ekf_se/ PARAMETERS * /amcl/base_frame_id: base_footprint * /amcl/first_map_only: True * /amcl/global_frame_id: map * /amcl/gui_publish_rate: 30.0 * /amcl/initial_cov_aa: 0.2 * /amcl/initial_cov_xx: 0.25 * /amcl/initial_cov_yy: 0.25 * /amcl/initial_pose_a: 0.0 * /amcl/initial_pose_x: 0.0 * /amcl/initial_pose_y: 0.0 * /amcl/kld_err: 0.01 * /amcl/kld_z: 0.99 * /amcl/laser_lambda_short: 0.1 * /amcl/laser_likelihood_max_dist: 2.0 * /amcl/laser_max_beams: 30 * /amcl/laser_model_type: likelihood_field * /amcl/laser_sigma_hit: 0.2 * /amcl/laser_z_hit: 0.5 * /amcl/laser_z_max: 0.05 * /amcl/laser_z_rand: 0.5 * /amcl/laser_z_short: 0.05 * /amcl/max_particles: 5000 * /amcl/min_particles: 100 * /amcl/odom_alpha1: 0.2 * /amcl/odom_alpha2: 0.2 * /amcl/odom_alpha3: 0.8 * /amcl/odom_alpha4: 0.2 * /amcl/odom_frame_id: odom * /amcl/odom_model_type: diff * /amcl/recovery_alpha_fast: 0.1 * /amcl/recovery_alpha_slow: 0.0 * /amcl/resample_interval: 2 * /amcl/tf_broadcast: True * /amcl/transform_tolerance: 0.1 * /amcl/update_min_a: 0.1 * /amcl/update_min_d: 0.1 * /amcl/use_map_topic: True * /car_controller/Angle_gain_d: -4.0 * /car_controller/Angle_gain_p: -4.0 * /car_controller/Lfw: 1.5 * /car_controller/Person1: 666 * /car_controller/Person2: 580 * /car_controller/Stopcar: 52 * /car_controller/Stoplight: 43 * /car_controller/Vcmd: 1.5 * /car_controller/baseAngle: 65.0 * /car_controller/baseSpeed: 1670 * /car_controller/first_lap: 100 * /car_controller/goalRadius: 0.7 * /car_controller/second_lap: 510 * /car_controller/vp_max_base: 75 * /car_controller/vp_min: 60 * /ekf_se/base_link_frame: /base_footprint * /ekf_se/debug: False * /ekf_se/debug_out_file: /path/to/debug/fi... * /ekf_se/frequency: 20 * /ekf_se/imu0: /imu_data * /ekf_se/imu0_config: [False, False, Fa... * /ekf_se/imu0_differential: False * /ekf_se/imu0_linear_acceleration_rejection_threshold: 2 * /ekf_se/imu0_nodelay: False * /ekf_se/imu0_pose_rejection_threshold: 2.0 * /ekf_se/imu0_queue_size: 8 * /ekf_se/imu0_relative: True * /ekf_se/imu0_remove_gravitational_acceleration: True * /ekf_se/imu0_twist_rejection_threshold: 2.0 * /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ekf_se/map_frame: /map * /ekf_se/odom0: /rf2o_laser_odome... * /ekf_se/odom0_config: [False, False, Fa... * /ekf_se/odom0_differential: True * /ekf_se/odom0_nodelay: True * /ekf_se/odom0_pose_rejection_threshold: 8 * /ekf_se/odom0_queue_size: 5 * /ekf_se/odom0_twist_rejection_threshold: 4 * /ekf_se/odom1: /encoder_imu_odom * /ekf_se/odom1_config: [True, True, Fals... * /ekf_se/odom1_differential: True * /ekf_se/odom1_nodelay: True * /ekf_se/odom1_queue_size: 5 * /ekf_se/odom1_relative: False * /ekf_se/odom_frame: /odom * /ekf_se/print_diagnostics: False * /ekf_se/process_noise_covariance: [0.25, 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 * /move_base/GlobalPlanner/allow_unknown: True * /move_base/GlobalPlanner/cost_factor: 0.54 * /move_base/GlobalPlanner/default_tolerance: 0.2 * /move_base/GlobalPlanner/lethal_cost: 253 * /move_base/GlobalPlanner/neutral_cost: 21 * /move_base/GlobalPlanner/old_navfn_behavior: False * /move_base/GlobalPlanner/orientation_mode: 0 * /move_base/GlobalPlanner/orientation_window_size: 1 * /move_base/GlobalPlanner/publish_potential: True * /move_base/GlobalPlanner/use_dijkstra: False * /move_base/GlobalPlanner/use_grid_path: True * /move_base/GlobalPlanner/use_quadratic: True * /move_base/GlobalPlanner/visualize_potential: False * /move_base/NavfnROS/allow_unknown: False * /move_base/TebLocalPlannerROS/acc_lim_theta: 60 * /move_base/TebLocalPlannerROS/acc_lim_x: 0.188 * /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: False * /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False * /move_base/TebLocalPlannerROS/complete_global_plan: True * /move_base/TebLocalPlannerROS/costmap_converter_plugin: * /move_base/TebLocalPlannerROS/costmap_converter_rate: 8 * /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True * /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 0.1 * /move_base/TebLocalPlannerROS/delete_detours_backwards: True * /move_base/TebLocalPlannerROS/dt_hysteresis: 0.05 * /move_base/TebLocalPlannerROS/dt_ref: 0.21 * /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.1 * /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: True * /move_base/TebLocalPlannerROS/enable_multithreading: False * /move_base/TebLocalPlannerROS/exact_arc_length: True * /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 10 * /move_base/TebLocalPlannerROS/footprint_model: polygon * /move_base/TebLocalPlannerROS/free_goal_vel: True * /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True * /move_base/TebLocalPlannerROS/global_plan_prune_distance: 1 * /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: -1 * /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: 0.62 * /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 4.0 * /move_base/TebLocalPlannerROS/max_number_classes: 5 * /move_base/TebLocalPlannerROS/max_ratio_detours_duration_best_duration: 3.0 * /move_base/TebLocalPlannerROS/max_samples: 500 * /move_base/TebLocalPlannerROS/max_vel_theta: 85 * /move_base/TebLocalPlannerROS/max_vel_x: 3 * /move_base/TebLocalPlannerROS/max_vel_x_backwards: 1.2 * /move_base/TebLocalPlannerROS/max_vel_y: 0.288 * /move_base/TebLocalPlannerROS/min_turning_radius: 0.01 * /move_base/TebLocalPlannerROS/no_inner_iterations: -1 * /move_base/TebLocalPlannerROS/no_outer_iterations: -1 * /move_base/TebLocalPlannerROS/obstacle_cost_exponent: -1 * /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45 * /move_base/TebLocalPlannerROS/obstacle_poses_affected: 20 * /move_base/TebLocalPlannerROS/odom_topic: odom * /move_base/TebLocalPlannerROS/optimization_activate: True * /move_base/TebLocalPlannerROS/optimization_verbose: False * /move_base/TebLocalPlannerROS/oscillation_filter_duration: 10 * /move_base/TebLocalPlannerROS/oscillation_omega_eps: 10 * /move_base/TebLocalPlannerROS/oscillation_recovery: False * /move_base/TebLocalPlannerROS/oscillation_recovery_min_duration: 20 * /move_base/TebLocalPlannerROS/oscillation_v_eps: 10 * /move_base/TebLocalPlannerROS/penalty_epsilon: 0.01 * /move_base/TebLocalPlannerROS/publish_feedback: False * /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_prefer_initial_plan: 0.95 * /move_base/TebLocalPlannerROS/shrink_horizon_backup: True * /move_base/TebLocalPlannerROS/shrink_horizon_min_duration: 3 * /move_base/TebLocalPlannerROS/switching_blocking_period: 0.0 * /move_base/TebLocalPlannerROS/teb_autosize: True * /move_base/TebLocalPlannerROS/type: polygon * /move_base/TebLocalPlannerROS/vertices: [[-0.175, -0.25],... * /move_base/TebLocalPlannerROS/viapoints_all_candidates: True * /move_base/TebLocalPlannerROS/visualize_hc_graph: True * /move_base/TebLocalPlannerROS/visualize_with_time_as_z_axis_scale: False * /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 10 * /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1 * /move_base/TebLocalPlannerROS/weight_adapt_factor: 20 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 10 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 5 * /move_base/TebLocalPlannerROS/weight_inflation: 50 * /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 1000 * /move_base/TebLocalPlannerROS/weight_max_vel_theta: 10 * /move_base/TebLocalPlannerROS/weight_max_vel_x: 1 * /move_base/TebLocalPlannerROS/weight_obstacle: 50 * /move_base/TebLocalPlannerROS/weight_optimaltime: 1000 * /move_base/TebLocalPlannerROS/weight_shortest_path: 1 * /move_base/TebLocalPlannerROS/weight_viapoint: 1 * /move_base/TebLocalPlannerROS/wheelbase: 0.335 * /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.01 * /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.03 * /move_base/base_global_planner: navfn/NavfnROS * /move_base/base_local_planner: teb_local_planner... * /move_base/clearing_rotation_allowed: False * /move_base/controller_frequency: 10.0 * /move_base/controller_patience: 6.0 * /move_base/global_costmap/footprint: [[-0.175, -0.25],... * /move_base/global_costmap/footprint_padding: 0.01 * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/height: 25.0 * /move_base/global_costmap/inflation/cost_scaling_factor: 2.0 * /move_base/global_costmap/inflation/inflation_radius: 0. 1 * /move_base/global_costmap/plugins: [{'name': 'static... * /move_base/global_costmap/publish_frequency: 1.0 * /move_base/global_costmap/resolution: 0.05 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/rolling_window: True * /move_base/global_costmap/sensor/laser_scan_sensor/clearing: True * /move_base/global_costmap/sensor/laser_scan_sensor/data_type: LaserScan * /move_base/global_costmap/sensor/laser_scan_sensor/marking: True * /move_base/global_costmap/sensor/laser_scan_sensor/observation_persistence: 0.5 * /move_base/global_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link * /move_base/global_costmap/sensor/laser_scan_sensor/topic: scan * /move_base/global_costmap/sensor/observation_sources: laser_scan_sensor * /move_base/global_costmap/static/map_topic: /map * /move_base/global_costmap/static/subscribe_to_updates: True * /move_base/global_costmap/track_unknown_space: False * /move_base/global_costmap/transform_tolerance: 0.5 * /move_base/global_costmap/update_frequency: 1.0 * /move_base/global_costmap/width: 25.0 * /move_base/local_costmap/footprint: [[-0.175, -0.25],... * /move_base/local_costmap/footprint_padding: 0.01 * /move_base/local_costmap/global_frame: map * /move_base/local_costmap/height: 3.0 * /move_base/local_costmap/inflation/cost_scaling_factor: 6.0 * /move_base/local_costmap/inflation/inflation_radius: 0.1 * /move_base/local_costmap/plugins: [{'name': 'sensor... * /move_base/local_costmap/publish_frequency: 1.0 * /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/sensor/laser_scan_sensor/clearing: True * /move_base/local_costmap/sensor/laser_scan_sensor/data_type: LaserScan * /move_base/local_costmap/sensor/laser_scan_sensor/marking: True * /move_base/local_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link * /move_base/local_costmap/sensor/laser_scan_sensor/topic: scan * /move_base/local_costmap/sensor/observation_sources: laser_scan_sensor * /move_base/local_costmap/track_unknown_space: False * /move_base/local_costmap/transform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 1.0 * /move_base/local_costmap/width: 3.0 * /move_base/oscillation_distance: 0.2 * /move_base/oscillation_timeout: 10.0 * /move_base/planner_frequency: 10.0 * /move_base/planner_patience: 5.0 * /move_base/shutdown_costmaps: False * /rf2o_laser_odometry/base_frame_id: base_footprint * /rf2o_laser_odometry/freq: 20.0 * /rf2o_laser_odometry/laser_scan_topic: scan * /rf2o_laser_odometry/odom_frame_id: odom * /rf2o_laser_odometry/odom_topic: odom_rf2o * /rf2o_laser_odometry/publish_tf: False * /rf2o_laser_odometry/verbose: True * /rosdistro: noetic * /rosversion: 1.15.13 NODES / amcl (amcl/amcl) car_controller (racecar/car_controller_new) ekf_se (robot_localization/ekf_localization_node) map_server (map_server/map_server) move_base (move_base/move_base) rf2o_laser_odometry (rf2o_laser_odometry/rf2o_laser_odometry_node) wheel_odom (encoder_driver/encoder_driver_node1) ^C终止 ROS 启动进程... [ INFO] [1764271020.971795831]: ?????????????????????????????? [ INFO] [1764271020.886512045]: Subscribed to map topic. [ INFO] [1764271021.127392896]: Received a 608 X 384 map @ 0.050 m/pix [ INFO] [1764271021.158670011]: Initializing likelihood field model; this can take some time on large maps... [ INFO] [1764271021.265183670]: Done initializing likelihood field model. lslidar_x10_driver_node: /usr/include/boost/thread/pthread/condition_variable_fwd.hpp:81: boost::condition_variable::~condition_variable(): Assertion `!posix::pthread_mutex_destroy(&internal_mutex)' failed. 2025-11-27 19:18:26+0000 [autobahn.twisted.websocket.WebSocketServerFactory] (TCP Port 9090 Closed) 2025-11-27 19:18:26+0000 [-] Stopping factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffc75d7c70> 2025-11-27 19:18:26+0000 [-] Main loop terminated. [DEBUG] [1764271016.495434]: init_node, name[/encoder_vel], pid[443] [DEBUG] [1764271016.503376]: binding to 0.0.0.0 0 [DEBUG] [1764271016.507268]: bound to 0.0.0.0 38955 [DEBUG] [1764271016.511287]: ... service URL is rosrpc://192.168.5.100:38955 [DEBUG] [1764271016.514807]: [/encoder_vel/get_loggers]: new Service instance [DEBUG] [1764271016.520463]: ... service URL is rosrpc://192.168.5.100:38955 [DEBUG] [1764271016.523488]: [/encoder_vel/set_logger_level]: new Service instance True ROS_MASTER_URI=http://192.168.5.100:11311 process[map_server-1]: started with pid [496] process[rf2o_laser_odometry-2]: started with pid [497] process[wheel_odom-3]: started with pid [498] process[ekf_se-4]: started with pid [499] process[amcl-5]: started with pid [513] process[move_base-6]: started with pid [522] process[car_controller-7]: started with pid [526] [car_controller-7] killing on exit [move_base-6] killing on exit [amcl-5] killing on exit [ekf_se-4] killing on exit [wheel_odom-3] killing on exit [rf2o_laser_odometry-2] killing on exit [map_server-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done WARNING: ignoring defunct <master /> tag ... logging to /root/.ros/log/a199425e-cbc5-11f0-86b4-2c52afb5f6d1/roslaunch-davinci-mini-400.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://192.168.5.100:37043/ SUMMARY ======== PARAMETERS * /encoder_vel/baud_rate: 57600 * /encoder_vel/k: 0.88 * /encoder_vel/serial_port: /dev/encoder * /lslidar_x10_driver_node/angle_disable_max: 0.0 * /lslidar_x10_driver_node/angle_disable_min: 0.0 * /lslidar_x10_driver_node/child_frame_id: laser_link * /lslidar_x10_driver_node/interface_selection: serial * /lslidar_x10_driver_node/lidar_name: M10 * /lslidar_x10_driver_node/max_range: 100.0 * /lslidar_x10_driver_node/min_range: 0 * /lslidar_x10_driver_node/scan_topic: scan * /lslidar_x10_driver_node/serial_port: /dev/laser * /lslidar_x10_driver_node/use_gps_ts: False * /rosbridge_server/websocket_port: 9090 * /rosdistro: noetic * /rosversion: 1.15.13 NODES / base_footprint2base_link (tf/static_transform_publisher) base_link2imu (tf/static_transform_publisher) base_link2laser_link (tf/static_transform_publisher) encoder_vel (encoder_driver/Encoder_vel.py) imu_sonser_spec (serial_imu/serial_imu) lslidar_x10_driver_node (lslidar_x10_driver/lslidar_x10_driver_node) racecar_driver (racecar_driver/racecar_driver_node) rosbridge_server (rosbridge_server/rosbridge_websocket) auto-starting new master process[master]: started with pid [410] ROS_MASTER_URI=http://192.168.5.100:11311 setting /run_id to a199425e-cbc5-11f0-86b4-2c52afb5f6d1 process[rosout-1]: started with pid [420] started core service [/rosout] process[base_footprint2base_link-2]: started with pid [427] process[base_link2laser_link-3]: started with pid [428] process[base_link2imu-4]: started with pid [429] process[lslidar_x10_driver_node-5]: started with pid [434] process[imu_sonser_spec-6]: started with pid [440] process[encoder_vel-7]: started with pid [443] process[racecar_driver-8]: started with pid [449] process[rosbridge_server-9]: started with pid [459] [rosbridge_server-9] killing on exit [racecar_driver-8] killing on exit [encoder_vel-7] killing on exit [imu_sonser_spec-6] killing on exit [lslidar_x10_driver_node-5] killing on exit [base_link2imu-4] killing on exit [base_link2laser_link-3] killing on exit [base_footprint2base_link-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done Run_car.launch 进程已终止。 amcl_nav.launch 进程已终止。 分析一下有啥问题吗
最新发布
11-28
你提供的日志是基于 **ROS (Robot Operating System)** 的一个机器人导航系统在 **华为 Atlas 200I DK A2** 开发板上运行时的完整启动和终止过程。从你的操作来看，你多次执行了 `bash nav_one.sh` 脚本（可能是用于启动自动导航任务），但每次都被中断或异常退出。 下面我将详细分析整个流程中的问题、潜在原因以及优化建议。 --- ### ✅ 正常行为部分 1. **环境初始化正常** - 系统为 Ubuntu 22.04 + ROS Noetic（尽管 Noetic 官方主要支持 x86/x64，但在 ARM 架构如 aarch64 上通过源码编译也可运行）。 - 使用的是 `davinci-mini` 设备，搭载激光雷达（lslidar_x10）、编码器、IMU 等传感器。 - 启动了必要的 TF 变换节点（`base_footprint2base_link`, `base_link2laser_link` 等），说明坐标系设置基本正确。 2. **地图加载成功** ```log [ INFO] [1764270901.452807176]: Received a 608 X 384 map @ 0.050 m/pix ``` 表明 `map_server` 成功加载了一张分辨率为 608×384、粒度为 5cm 的静态地图。 3. **AMCL 和 move_base 初始化完成** - AMCL（自适应蒙特卡洛定位）已订阅 `/map` 主题，并初始化了 likelihood field 模型： ```log [ INFO] [1764270901.599203612]: Done initializing likelihood field model. ``` - move_base 已加载全局规划器（GlobalPlanner）和局部规划器（TebLocalPlannerROS），参数配置合理，适合差速驱动小车。 4. **EKF 融合定位启用** - `ekf_se` 节点融合了以下信息： - IMU 数据 (`/imu_data`) - 激光里程计 (`/rf2o_laser_odometry`) - 编码器里程计 (`/encoder_imu_odom`) - 这是一个典型的多传感器融合方案，提升定位精度。 --- ## ❌ 存在的问题与错误分析 ### 🔴 1. **频繁 Ctrl+C 中断导致进程非正常退出** 你在终端中反复按了 `^C`（Ctrl+C），导致： ```log ^C终止 ROS 启动进程... [car_controller-7] killing on exit [move_base-6] killing on exit ... shutting down processing monitor... ... shutting down processing monitor complete done ``` > **问题：这不是程序崩溃，而是人为强制终止。** #### ⚠️ 影响： - 所有 ROS 节点被 SIGINT 信号杀死。 - 若没有优雅关闭机制，可能导致资源未释放（例如串口锁死、共享内存残留等）。 - 多次快速重启可能造成 `run_id` 不一致问题（见下一点）。 --- ### 🔴 2. **Run ID 冲突警告（严重性中等）** 首次启动时报错： ```log RLException: run_id on parameter server does not match declared run_id: 1a54deac-cbc5-11f0-9652-2c52afb5f6d1 vs 1ba06f92-cbc5-11f0-be3e-2c52afb5f6d1 ``` 这是由于 `.ros` 目录下保留了旧的 `run_id` 参数，而新的 roslaunch 尝试使用不同的 UUID 引起的冲突。 #### ✅ 解决方法： 清理旧状态： ```bash rm -rf ~/.ros/log/* rosparam delete /run_id ``` 或者直接重启 `roscore` 或整个设备以清空状态。 --- ### 🔴 3. **Boost 条件变量析构断言失败（关键 Bug）** ```log lslidar_x10_driver_node: /usr/include/boost/thread/pthread/condition_variable_fwd.hpp:81: boost::condition_variable::~condition_variable(): Assertion `!posix::pthread_mutex_destroy(&internal_mutex)' failed. ``` 这是一个典型的 **线程资源竞争/析构顺序错误** 导致的 C++ 崩溃。 #### 📌 原因分析： - `lslidar_x10_driver_node` 是激光雷达驱动节点，在收到 SIGINT 后尝试退出。 - 但它内部使用的 Boost 线程库中，某个 `condition_variable` 在互斥锁仍被占用的情况下被析构。 - 很可能是： - 驱动线程未正确 join； - 或者主线程过早退出，子线程仍在访问共享资源； - 或驱动代码存在 bug（尤其是在 ARM 平台交叉编译时兼容性问题）。 #### ✅ 解决建议： 1. **升级或修复 lslidar 驱动** - 查看是否使用最新版驱动：[GitHub - LiSLIDAR/Livox-SDK](https://github.com/Livox-SDK) - 或改用更稳定的替代品，比如 `rplidar`, `ydlidar` 等开源驱动。 2. **添加延迟退出机制** 在 `nav_one.sh` 中，在 kill 前加个延时： ```bash trap 'echo "Shutting down..."; sleep 2; kill $(rosnode list | grep -v "/rosout" | xargs); sleep 1' INT TERM ``` 3. **避免频繁重启** - 改成调试模式运行关键节点，而不是每次都 `bash nav_one.sh`。 --- ### 🔴 4. **Encoder 和 Driver 节点频繁重启失败** 观察到如下现象： ```log process[encoder_vel-7]: started with pid [87] ... True ``` 只有一个 `True` 输出，且无后续日志 → 表示该节点可能立即退出或阻塞。 检查 `/dev/encoder` 是否存在： ```bash ls /dev/encoder ``` 如果不存在，则会报错无法打开串口。 #### ✅ 检查项： - 是否正确连接编码器硬件？ - 波特率是否匹配？当前设为 `57600` - 是否有权限读取 `/dev/encoder`？ ```bash ls -l /dev/encoder # 应类似 crw-rw---- 1 root dialout ``` 若无权限，加入用户组： ```bash usermod -aG dialout root ``` --- ### 🔴 5. **Failed to meet update rate 警告** ```log [ WARN] [1764270791.133628]: Failed to meet update rate! Took 0.102008542 s ``` 表示某节点期望 10Hz 更新，但实际耗时超过 100ms。 常见于： - CPU 占用过高（Atlas 200I DK A2 性能有限） - 频繁打印 debug 日志 - TF 查询延迟 #### ✅ 优化建议： - 降低 `controller_frequency` 和 `planner_frequency` 至 `5 Hz` - 关闭不必要的可视化输出（RViz 中 Topic 减少） - 使用 `top` 查看 CPU 使用情况： ```bash top -H -p $(pgrep -f "python|ros") ``` --- ### 🔴 6. **两个 launch 文件交替启动又终止** 日志末尾显示： ``` Run_car.launch 进程已终止。 amcl_nav.launch 进程已终止。 ``` 说明 `nav_one.sh` 实际上可能做了两件事： 1. 先启动 `Run_car.launch`（底层控制） 2. 再启动 `amcl_nav.launch`（导航） 但由于脚本逻辑不清或异常退出，两者都挂掉了。 #### ✅ 建议做法： 拆分测试： ```bash # 先单独测试底层驱动 roslaunch Run_car.launch # 再测试导航 roslaunch amcl_nav.launch map_file:=your_map.yaml ``` 确保每层稳定后再联合调试。 --- ## ✅ 推荐解决方案汇总 | 问题 | 解法 | |------|------| | `run_id` 冲突 | 删除 `~/.ros/log` 和 `/run_id` 参数 | | Boost 断言崩溃 | 更新 `lslidar` 驱动或软重启设备 | | 编码器打不开 | 检查 `/dev/encoder` 是否存在及权限 | | 更新频率不达标 | 降低频率至 5Hz，减少日志输出 | | 节点频繁退出 | 分步启动调试，不要反复 Ctrl+C | --- ## 💡 建议增强稳定性措施 ### ✅ 修改 `nav_one.sh` 示例（增加容错）： ```bash #!/bin/bash # 清理旧参数 rosparam delete /run_id > /dev/null 2>&1 || true # 设置工作空间 source /racecar/devel_isolated/setup.bash # 启动主控节点（分离模式） echo "Starting sensor and driver nodes..." roslaunch /racecar/Run_car.launch & LAUNCH_PID=$! # 等待关键主题出现 sleep 3 while ! rostopic list | grep -q "/scan"; do echo "Waiting for /scan topic..." sleep 1 done echo "Starting navigation stack..." roslaunch /racecar/amcl_nav.launch & # 捕获中断信号 trap "kill $LAUNCH_PID; wait $LAUNCH_PID; exit" INT TERM wait ``` --- ##
评论 1
成就一亿技术人!
拼手气红包6.0元
还能输入1000个字符
 
红包 添加红包
表情包 插入表情
表情包 代码片
 条评论被折叠 查看
添加红包

请填写红包祝福语或标题

个

红包个数最小为10个

元

红包金额最低5元

当前余额3.43元 前往充值 >
需支付：10.00元
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包
实付元
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明：

1.余额是钱包充值的虚拟货币，按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载，可以购买VIP、付费专栏及课程。

余额充值