Compose-navigation: 问题汇总

本文探讨了如何在使用Compose时为Navigation添加动画效果,包括slide、fade和scale等,并解决首页回退问题。同时,针对ViewModel的声明周期管理,通过Hilt库实现与NavHostController的对应销毁,以优化内存利用。

前言

Compose 非常适合构建单Activity应用, 本篇适合单Activity,多Composable,无Fragment的情况.


一、默认的navigation没有页面进出的动画

这里需要 accompanist-navigation-animation 库.
该部分出自: 动画实现更简单,Navigation Compose 帮您忙

1.导包 accompanist-navigation-animation

implementation "androidx.navigation:navigation-compose:2.4.2"
implementation "com.google.accompanist:accompanist-navigation-animation:0.24.10-beta"

2.自定义navigation-composable

这里默认 页面打开时从右侧进入; 注意这里 composable 导包, 是accompanist下的.

import androidx.compose.animation.*
import androidx.compose.runtime.Composable
import androidx.navigation.NamedNavArgument
import androidx.navigation.NavBackStackEntry
import androidx.navigation.NavDeepLink
import androidx.navigation.NavGraphBuilder
import com.google.accompanist.navigation.animation.composable

/**
 * accompanist-navigation-animation
 * navHostController.navigate()     时 右进左出
 * navHostController.popBackStack() 时 左进右出
 */
@ExperimentalAnimationApi
fun NavGraphBuilder.myComposable(
  route: String,
  arguments: List<NamedNavArgument> = emptyList(),
  deepLinks: List<NavDeepLink> = emptyList(),
  enterTransition: (AnimatedContentScope<NavBackStackEntry>.() -> EnterTransition?)? = {
   
   
    slideInHorizontally(initialOffsetX = {
   
    it })
  },
  exitTransition: (AnimatedContentScope<NavBackStackEntry>.() -> ExitTransition
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
最新发布
11-28
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