Io exception: Connection refused(DESCRIPTION=(ERR=1153)(VSNNUM=169870336).......(ERROR=(CODE=303)

本文介绍了解决在更换服务器后出现500ServletException部署错误的方法。通过替换和更新数据库驱动jar包(从classes12.jar到ojdbc14.jar),成功解决了部署问题。

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500 Servlet Exception

Io exception: Connection refused(DESCRIPTION=(ERR=1153)(VSNNUM=169870336).......(ERROR=(CODE=303)

 

       由于在本机和另外一台服务器上,部署一切正常,换台服务器主机后,部署报错。

       解决办法: 

            1、把resin-pro-3.1.9/lib下的classes12.jar删除,替换为ojdbc14.jar, 此包大小为1.4M。同时删除ojdbc14-10.jar,

            2、在项目WEB-INF/lib下添加ojdbc14_g.jar.

    

    原因分析:

    看了写资料,有的说class12.jar,用这个驱动的话很不稳定,时好时坏,而ojdbc.jar,稳定。classes12.jarojdbc14.jar,两个jar包中都有oracle.jdbc.driver.OracleDriver,看来问题可能就出在这里。

   mark一下,以示记忆。

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!
07-17
EPRobot@EPRobot:~/robot_ws/src/eprobot_start/script/one_car_pkg$ 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/src/eprobot_start/script/one_car_pkg$ roscd usd_cam roscd: No such package/stack 'usd_cam' EPRobot@EPRobot:~/robot_ws/src/eprobot_start/script/one_car_pkg$ source /opt/ros/melodic/setup.bash EPRobot@EPRobot:~/robot_ws/src/eprobot_start/script/one_car_pkg$ 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/98e3a152-624a-11f0-a474-e45f0131f240/roslaunch-EPRobot-28515.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:33123/ 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 [28540] ROS_MASTER_URI=http://EPRobot:11311 setting /run_id to 98e3a152-624a-11f0-a474-e45f0131f240 process[rosout-1]: started with pid [28569] started core service [/rosout] process[usb_cam-2]: started with pid [28577] [ INFO] [1752673306.541706342]: using default calibration URL [ INFO] [1752673306.544599750]: camera calibration URL: file:///home/EPRobot/.ros/camera_info/head_camera.yaml [ INFO] [1752673306.548678571]: Starting 'head_camera' (/dev/video0) at 1280x960 via mmap (yuyv) at 30 FPS [ WARN] [1752673306.947265581]: unknown control 'focus_auto' process[image_view-3]: started with pid [28591] [ INFO] [1752673307.509032663]: Initializing nodelet with 4 worker threads. [ INFO] [1752673307.861474363]: Using transport "raw" Unable to init server: Could not connect: Connection refused (image_raw:28591): Gtk-WARNING **: 21:41:47.890: cannot open display: process[base_to_link-4]: started with pid [28612] [image_view-3] process has died [pid 28591, 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/98e3a152-624a-11f0-a474-e45f0131f240/image_view-3.log]. log file: /home/EPRobot/.ros/log/98e3a152-624a-11f0-a474-e45f0131f240/image_view-3*.log process[base_to_gyro-5]: started with pid [28629] process[base_to_laser-6]: started with pid [28635] process[base_to_camera-7]: started with pid [28657] process[joint_state_publisher-8]: started with pid [28680] process[robot_state_publisher-9]: started with pid [28686] /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 [28694] ERROR: cannot launch node of type [lslidar_driver/lslidar_driver_node]: Cannot locate node of type [lslidar_driver_node] in package [lslidar_driver]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [laser_filters/scan_to_scan_filter_chain]: Cannot locate node of type [scan_to_scan_filter_chain] in package [laser_filters]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [map_server/map_server]: Cannot locate node of type [map_server] in package [map_server]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [amcl/amcl]: Cannot locate node of type [amcl] in package [amcl]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [move_base/move_base]: Cannot locate node of type [move_base] in package [move_base]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [robot_localization/ekf_localization_node]: Cannot locate node of type [ekf_localization_node] in package [robot_localization]. Make sure file exists in package path and permission is set to executable (chmod +x) 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] [1752673319.775691]: base control start... [INFO] [1752673319.816039]: LaserMode : Express [INFO] [1752673319.819294]: is_pub_odom_tf : false [INFO] [1752673319.822670]: is_send_anger : false [INFO] [1752673319.827339]: Opening Serial [INFO] [1752673319.831187]: Serial Open Succeed
最新发布
07-17
<think>嗯,用户遇到了LocalSocketAddress报错,错误是Connectionrefused。这个问题通常发生在客户端尝试连接到服务器端时,但服务器端没有在指定的地址和端口上监听。我需要先理解LocalSocketAddress的使用场景,然后分析可能的原因。 首先,LocalSocket在Android中用于进程间通信,基于Unix域套接字。这意味着通信的两个进程必须在同一个设备上,且服务器端需要先创建并绑定到某个地址,然后开始监听。客户端才能连接。 用户遇到的错误是连接被拒绝,可能的原因有几个:服务器端没有启动,地址不正确,或者权限问题。比如,服务器端没有调用bind()或者listen(),导致客户端连接时找不到对应的服务。 接下来要检查服务器端的代码是否正确。比如,服务器端是否创建了LocalServerSocket,并绑定到相同的地址。另外,地址的命名空间是否正确?比如,使用LocalSocketAddress.Namespace.FILESYSTEM或ABSTRACT。如果命名空间不对,可能导致地址不匹配。 另外,文件系统命名空间下,套接字会创建实际的文件,需要确保应用有权限写入该路径。而ABSTRACT命名空间则不需要文件,但可能在部分系统上有不同的限制。 权限问题也可能导致连接被拒绝。例如,如果服务器端和客户端属于不同的用户或应用,可能需要设置正确的文件权限,或者使用合适的命名空间。那么,解决方案应该包括检查服务器端是否正确绑定和监听,确认地址一致,处理权限问题。给出一个示例代码,展示服务器端和客户端的正确用法,并解释关键步骤。比如,服务器端应该创建LocalServerSocket,绑定到地址,然后等待连接。客户端创建LocalSocket,连接到同一地址。确保命名空间和路径正确。此外,处理异常情况,比如地址已被占用或权限不足。可能用户没有启动服务器端,或者服务器端代码有错误,导致客户端连接时失败。这时候需要检查服务器端的日志,确认是否成功绑定,并处于监听状态。 另外,是否在连接前确保服务器端已经启动?比如,在客户端连接之前,服务器端必须先运行并开始接受连接。否则,客户端无法连接,导致Connection refused。 总结,解决步骤包括:验证服务器端是否正确绑定和监听,检查地址命名空间和路径,确保权限正确,处理可能的异常情况。</think>Android开发中使用LocalSocket出现"Connection refused"错误,通常是由于服务端未正确启动或地址不匹配导致的。以下是完整的解决方案: 1. **服务端代码示例**: ```java // 服务端需要先创建LocalServerSocket public void startServer() { new Thread(() -> { try { LocalServerSocket server = new LocalServerSocket("my_socket_address"); LocalSocket receiver = server.accept(); // 等待客户端连接 InputStream input = receiver.getInputStream(); // 处理输入流... } catch (IOException e) { e.printStackTrace(); } }).start(); } ``` 2. **客户端代码示例**: ```java public void connectClient() { try { LocalSocket client = new LocalSocket(); LocalSocketAddress address = new LocalSocketAddress( "my_socket_address", // 必须与服务端名称一致 LocalSocketAddress.Namespace.ABSTRACT // 命名空间类型必须一致 ); client.connect(address); // 进行通信操作... } catch (IOException e) { e.printStackTrace(); } } ``` **关键点解释**: 1. 命名空间必须一致:服务端和客户端必须使用相同的`Namespace`(ABSTRACT或FILESYSTEM) 2. 服务端要先启动:确保服务端的`LocalServerSocket`已经执行accept()后再启动客户端 3. 权限问题:如果使用FILESYSTEM模式,需要确保有文件系统写权限 4. 名称规范:地址名称不能包含斜杠,建议全部小写 **常见错误排查**: - 检查服务端是否调用了`accept()`方法 - 确认客户端和服务端使用完全相同的地址字符串 - 尝试使用ABSTRACT命名空间避免文件权限问题 - 确保服务端线程已成功启动
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