elcome to Atlas 200I DK A2
This system is based on Ubuntu 22.04.5 LTS (GNU/Linux 5.10.0+ aarch64)
This system is only applicable to individual developers and cannot be used for c
By using this system, you have agreed to the Huawei Software License Agreement.
Please refer to the agreement for details on https://www.hiascend.com/software/p
Reference resources
* Home page: https://www.hiascend.com/hardware/developer-kit-a2
* Documentation: https://www.hiascend.com/hardware/developer-kit-a2/resource
* Online courses: https://www.hiascend.com/edu/courses
* Online experiments: https://www.hiascend.com/zh/edu/experiment
* Forum: https://www.hiascend.com/forum/
* Code: https://gitee.com/HUAWEI-ASCEND/ascend-devkit
* Documentation: https://help.ubuntu.com
* Management: https://landscape.canonical.com
* Support: https://ubuntu.com/pro
(base) root@davinci-mini:~# davinci-mini0
root@davinci-mini:/# cd racecar/
root@davinci-mini:/racecar# ls
RedAndGreen Run_car.sh build_isolated docker-compose.yml nav.sh
Run_car.log amcl_nav.launch.log devel_isolated gmapping.sh nav2.log
root@davinci-mini:/racecar# bash nav_one.sh
... logging to /root/.ros/log/1ba06f92-cbc5-11f0-be3e-2c52afb5f6d1/roslaunch-davinci-mini-59.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.5.100:34989/
SUMMARY
========
CLEAR PARAMETERS
* /ekf_se/
PARAMETERS
* /amcl/base_frame_id: base_footprint
* /amcl/first_map_only: True
* /amcl/global_frame_id: map
* /amcl/gui_publish_rate: 30.0
* /amcl/initial_cov_aa: 0.2
* /amcl/initial_cov_xx: 0.25
* /amcl/initial_cov_yy: 0.25
* /amcl/initial_pose_a: 0.0
* /amcl/initial_pose_x: 0.0
* /amcl/initial_pose_y: 0.0
* /amcl/kld_err: 0.01
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 30
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 5000
* /amcl/min_particles: 100
* /amcl/odom_alpha1: 0.2
* /amcl/odom_alpha2: 0.2
* /amcl/odom_alpha3: 0.8
* /amcl/odom_alpha4: 0.2
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.1
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 2
* /amcl/tf_broadcast: True
* /amcl/transform_tolerance: 0.1
* /amcl/update_min_a: 0.1
* /amcl/update_min_d: 0.1
* /amcl/use_map_topic: True
* /car_controller/Angle_gain_d: -4.0
* /car_controller/Angle_gain_p: -4.0
* /car_controller/Lfw: 1.5
* /car_controller/Person1: 666
* /car_controller/Person2: 580
* /car_controller/Stopcar: 52
* /car_controller/Stoplight: 43
* /car_controller/Vcmd: 1.5
* /car_controller/baseAngle: 65.0
* /car_controller/baseSpeed: 1670
* /car_controller/first_lap: 100
* /car_controller/goalRadius: 0.7
* /car_controller/second_lap: 510
* /car_controller/vp_max_base: 75
* /car_controller/vp_min: 60
* /ekf_se/base_link_frame: /base_footprint
* /ekf_se/debug: False
* /ekf_se/debug_out_file: /path/to/debug/fi...
* /ekf_se/frequency: 20
* /ekf_se/imu0: /imu_data
* /ekf_se/imu0_config: [False, False, Fa...
* /ekf_se/imu0_differential: False
* /ekf_se/imu0_linear_acceleration_rejection_threshold: 2
* /ekf_se/imu0_nodelay: False
* /ekf_se/imu0_pose_rejection_threshold: 2.0
* /ekf_se/imu0_queue_size: 8
* /ekf_se/imu0_relative: True
* /ekf_se/imu0_remove_gravitational_acceleration: True
* /ekf_se/imu0_twist_rejection_threshold: 2.0
* /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,...
* /ekf_se/map_frame: /map
* /ekf_se/odom0: /rf2o_laser_odome...
* /ekf_se/odom0_config: [False, False, Fa...
* /ekf_se/odom0_differential: True
* /ekf_se/odom0_nodelay: True
* /ekf_se/odom0_pose_rejection_threshold: 8
* /ekf_se/odom0_queue_size: 5
* /ekf_se/odom0_twist_rejection_threshold: 4
* /ekf_se/odom1: /encoder_imu_odom
* /ekf_se/odom1_config: [True, True, Fals...
* /ekf_se/odom1_differential: True
* /ekf_se/odom1_nodelay: True
* /ekf_se/odom1_queue_size: 5
* /ekf_se/odom1_relative: False
* /ekf_se/odom_frame: /odom
* /ekf_se/print_diagnostics: False
* /ekf_se/process_noise_covariance: [0.25, 0, 0, 0, 0...
* /ekf_se/publish_acceleration: True
* /ekf_se/publish_tf: True
* /ekf_se/sensor_timeout: 0.025
* /ekf_se/transform_time_offset: 0.0001
* /ekf_se/transform_timeout: 0.025
* /ekf_se/two_d_mode: True
* /ekf_se/world_frame: /odom
* /move_base/GlobalPlanner/allow_unknown: True
* /move_base/GlobalPlanner/cost_factor: 0.54
* /move_base/GlobalPlanner/default_tolerance: 0.2
* /move_base/GlobalPlanner/lethal_cost: 253
* /move_base/GlobalPlanner/neutral_cost: 21
* /move_base/GlobalPlanner/old_navfn_behavior: False
* /move_base/GlobalPlanner/orientation_mode: 0
* /move_base/GlobalPlanner/orientation_window_size: 1
* /move_base/GlobalPlanner/publish_potential: True
* /move_base/GlobalPlanner/use_dijkstra: False
* /move_base/GlobalPlanner/use_grid_path: True
* /move_base/GlobalPlanner/use_quadratic: True
* /move_base/GlobalPlanner/visualize_potential: False
* /move_base/NavfnROS/allow_unknown: False
* /move_base/TebLocalPlannerROS/acc_lim_theta: 60
* /move_base/TebLocalPlannerROS/acc_lim_x: 0.188
* /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: False
* /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False
* /move_base/TebLocalPlannerROS/complete_global_plan: True
* /move_base/TebLocalPlannerROS/costmap_converter_plugin:
* /move_base/TebLocalPlannerROS/costmap_converter_rate: 8
* /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True
* /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 0.1
* /move_base/TebLocalPlannerROS/delete_detours_backwards: True
* /move_base/TebLocalPlannerROS/dt_hysteresis: 0.05
* /move_base/TebLocalPlannerROS/dt_ref: 0.21
* /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.1
* /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: True
* /move_base/TebLocalPlannerROS/enable_multithreading: False
* /move_base/TebLocalPlannerROS/exact_arc_length: True
* /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 10
* /move_base/TebLocalPlannerROS/footprint_model: polygon
* /move_base/TebLocalPlannerROS/free_goal_vel: True
* /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True
* /move_base/TebLocalPlannerROS/global_plan_prune_distance: 1
* /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: -1
* /move_base/TebLocalPlannerROS/h_signature_prescaler: 0.5
* /move_base/TebLocalPlannerROS/h_signature_threshold: 0.1
* /move_base/TebLocalPlannerROS/include_costmap_obstacles: True
* /move_base/TebLocalPlannerROS/include_dynamic_obstacles: True
* /move_base/TebLocalPlannerROS/inflation_dist: 0.62
* /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 4.0
* /move_base/TebLocalPlannerROS/max_number_classes: 5
* /move_base/TebLocalPlannerROS/max_ratio_detours_duration_best_duration: 3.0
* /move_base/TebLocalPlannerROS/max_samples: 500
* /move_base/TebLocalPlannerROS/max_vel_theta: 85
* /move_base/TebLocalPlannerROS/max_vel_x: 3
* /move_base/TebLocalPlannerROS/max_vel_x_backwards: 1.2
* /move_base/TebLocalPlannerROS/max_vel_y: 0.288
* /move_base/TebLocalPlannerROS/min_turning_radius: 0.01
* /move_base/TebLocalPlannerROS/no_inner_iterations: -1
* /move_base/TebLocalPlannerROS/no_outer_iterations: -1
* /move_base/TebLocalPlannerROS/obstacle_cost_exponent: -1
* /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45
* /move_base/TebLocalPlannerROS/obstacle_poses_affected: 20
* /move_base/TebLocalPlannerROS/odom_topic: odom
* /move_base/TebLocalPlannerROS/optimization_activate: True
* /move_base/TebLocalPlannerROS/optimization_verbose: False
* /move_base/TebLocalPlannerROS/oscillation_filter_duration: 10
* /move_base/TebLocalPlannerROS/oscillation_omega_eps: 10
* /move_base/TebLocalPlannerROS/oscillation_recovery: False
* /move_base/TebLocalPlannerROS/oscillation_recovery_min_duration: 20
* /move_base/TebLocalPlannerROS/oscillation_v_eps: 10
* /move_base/TebLocalPlannerROS/penalty_epsilon: 0.01
* /move_base/TebLocalPlannerROS/publish_feedback: False
* /move_base/TebLocalPlannerROS/roadmap_graph_area_length_scale: 1.0
* /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5
* /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15
* /move_base/TebLocalPlannerROS/selection_alternative_time_cost: False
* /move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0
* /move_base/TebLocalPlannerROS/selection_obst_cost_scale: 1.0
* /move_base/TebLocalPlannerROS/selection_prefer_initial_plan: 0.95
* /move_base/TebLocalPlannerROS/shrink_horizon_backup: True
* /move_base/TebLocalPlannerROS/shrink_horizon_min_duration: 3
* /move_base/TebLocalPlannerROS/switching_blocking_period: 0.0
* /move_base/TebLocalPlannerROS/teb_autosize: True
* /move_base/TebLocalPlannerROS/type: polygon
* /move_base/TebLocalPlannerROS/vertices: [[-0.175, -0.25],...
* /move_base/TebLocalPlannerROS/viapoints_all_candidates: True
* /move_base/TebLocalPlannerROS/visualize_hc_graph: True
* /move_base/TebLocalPlannerROS/visualize_with_time_as_z_axis_scale: False
* /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 10
* /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1
* /move_base/TebLocalPlannerROS/weight_adapt_factor: 20
* /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 10
* /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 5
* /move_base/TebLocalPlannerROS/weight_inflation: 50
* /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 1000
* /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000
* /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 1000
* /move_base/TebLocalPlannerROS/weight_max_vel_theta: 10
* /move_base/TebLocalPlannerROS/weight_max_vel_x: 1
* /move_base/TebLocalPlannerROS/weight_obstacle: 50
* /move_base/TebLocalPlannerROS/weight_optimaltime: 1000
* /move_base/TebLocalPlannerROS/weight_shortest_path: 1
* /move_base/TebLocalPlannerROS/weight_viapoint: 1
* /move_base/TebLocalPlannerROS/wheelbase: 0.335
* /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.01
* /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.03
* /move_base/base_global_planner: navfn/NavfnROS
* /move_base/base_local_planner: teb_local_planner...
* /move_base/clearing_rotation_allowed: False
* /move_base/controller_frequency: 10.0
* /move_base/controller_patience: 6.0
* /move_base/global_costmap/footprint: [[-0.175, -0.25],...
* /move_base/global_costmap/footprint_padding: 0.01
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/height: 25.0
* /move_base/global_costmap/inflation/cost_scaling_factor: 2.0
* /move_base/global_costmap/inflation/inflation_radius: 0. 1
* /move_base/global_costmap/plugins: [{'name': 'static...
* /move_base/global_costmap/publish_frequency: 1.0
* /move_base/global_costmap/resolution: 0.05
* /move_base/global_costmap/robot_base_frame: base_footprint
* /move_base/global_costmap/rolling_window: True
* /move_base/global_costmap/sensor/laser_scan_sensor/clearing: True
* /move_base/global_costmap/sensor/laser_scan_sensor/data_type: LaserScan
* /move_base/global_costmap/sensor/laser_scan_sensor/marking: True
* /move_base/global_costmap/sensor/laser_scan_sensor/observation_persistence: 0.5
* /move_base/global_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link
* /move_base/global_costmap/sensor/laser_scan_sensor/topic: scan
* /move_base/global_costmap/sensor/observation_sources: laser_scan_sensor
* /move_base/global_costmap/static/map_topic: /map
* /move_base/global_costmap/static/subscribe_to_updates: True
* /move_base/global_costmap/track_unknown_space: False
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 1.0
* /move_base/global_costmap/width: 25.0
* /move_base/local_costmap/footprint: [[-0.175, -0.25],...
* /move_base/local_costmap/footprint_padding: 0.01
* /move_base/local_costmap/global_frame: map
* /move_base/local_costmap/height: 3.0
* /move_base/local_costmap/inflation/cost_scaling_factor: 6.0
* /move_base/local_costmap/inflation/inflation_radius: 0.1
* /move_base/local_costmap/plugins: [{'name': 'sensor...
* /move_base/local_costmap/publish_frequency: 1.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_footprint
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/sensor/laser_scan_sensor/clearing: True
* /move_base/local_costmap/sensor/laser_scan_sensor/data_type: LaserScan
* /move_base/local_costmap/sensor/laser_scan_sensor/marking: True
* /move_base/local_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link
* /move_base/local_costmap/sensor/laser_scan_sensor/topic: scan
* /move_base/local_costmap/sensor/observation_sources: laser_scan_sensor
* /move_base/local_costmap/track_unknown_space: False
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 1.0
* /move_base/local_costmap/width: 3.0
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 10.0
* /move_base/planner_patience: 5.0
* /move_base/shutdown_costmaps: False
* /rf2o_laser_odometry/base_frame_id: base_footprint
* /rf2o_laser_odometry/freq: 20.0
* /rf2o_laser_odometry/laser_scan_topic: scan
* /rf2o_laser_odometry/odom_frame_id: odom
* /rf2o_laser_odometry/odom_topic: odom_rf2o
* /rf2o_laser_odometry/publish_tf: False
* /rf2o_laser_odometry/verbose: True
* /rosdistro: noetic
* /rosversion: 1.15.13
NODES
/
amcl (amcl/amcl)
car_controller (racecar/car_controller_new)
ekf_se (robot_localization/ekf_localization_node)
map_server (map_server/map_server)
move_base (move_base/move_base)
rf2o_laser_odometry (rf2o_laser_odometry/rf2o_laser_odometry_node)
wheel_odom (encoder_driver/encoder_driver_node1)
RLException: run_id on parameter server does not match declared run_id: 1a54deac-cbc5-11f0-9652-2c52afb5f6d1 vs 1ba06f92-cbc5-11f0-be3e-2c52afb5f6d1
The traceback for the exception was written to the log file
ROS_MASTER_URI=http://192.168.5.100:11311
2025-11-27 19:13:12+0000 [-] Log opened.
2025-11-27 19:13:12+0000 [-] registered capabilities (classes):
2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.call_service.CallService'>
2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.advertise.Advertise'>
2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.publish.Publish'>
2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.subscribe.Subscribe'>
2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'>
2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.service_response.ServiceResponse'>
2025-11-27 19:13:12+0000 [-] - <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'>
2025-11-27 19:13:13+0000 [-] WebSocketServerFactory starting on 9090
2025-11-27 19:13:13+0000 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffca3420a0>
2025-11-27 19:13:13+0000 [-] [INFO] [1764270793.062939]: Rosbridge WebSocket server started at ws://0.0.0.0:9090
^C终止 ROS 启动进程...
lslidar_x10_driver_node: /usr/include/boost/thread/pthread/condition_variable_fwd.hpp:81: boost::condition_variable::~condition_variable(): Assertion `!posix::pthread_mutex_destroy(&internal_mutex)' failed.
2025-11-27 19:14:41+0000 [autobahn.twisted.websocket.WebSocketServerFactory] (TCP Port 9090 Closed)
[DEBUG] [1764270791.133628]: init_node, name[/encoder_vel], pid[87]
[DEBUG] [1764270791.140349]: binding to 0.0.0.0 0
[DEBUG] [1764270791.143836]: bound to 0.0.0.0 43043
[DEBUG] [1764270791.147385]: ... service URL is rosrpc://192.168.5.100:43043
[DEBUG] [1764270791.150428]: [/encoder_vel/get_loggers]: new Service instance
[DEBUG] [1764270791.155703]: ... service URL is rosrpc://192.168.5.100:43043
[DEBUG] [1764270791.158360]: [/encoder_vel/set_logger_level]: new Service instance
True
2025-11-27 19:14:41+0000 [-] Stopping factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffca3420a0>
2025-11-27 19:14:41+0000 [-] Main loop terminated.
WARNING: ignoring defunct <master /> tag
... logging to /root/.ros/log/1a54deac-cbc5-11f0-9652-2c52afb5f6d1/roslaunch-davinci-mini-53.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.5.100:39739/
SUMMARY
========
PARAMETERS
* /encoder_vel/baud_rate: 57600
* /encoder_vel/k: 0.88
* /encoder_vel/serial_port: /dev/encoder
* /lslidar_x10_driver_node/angle_disable_max: 0.0
* /lslidar_x10_driver_node/angle_disable_min: 0.0
* /lslidar_x10_driver_node/child_frame_id: laser_link
* /lslidar_x10_driver_node/interface_selection: serial
* /lslidar_x10_driver_node/lidar_name: M10
* /lslidar_x10_driver_node/max_range: 100.0
* /lslidar_x10_driver_node/min_range: 0
* /lslidar_x10_driver_node/scan_topic: scan
* /lslidar_x10_driver_node/serial_port: /dev/laser
* /lslidar_x10_driver_node/use_gps_ts: False
* /rosbridge_server/websocket_port: 9090
* /rosdistro: noetic
* /rosversion: 1.15.13
NODES
/
base_footprint2base_link (tf/static_transform_publisher)
base_link2imu (tf/static_transform_publisher)
base_link2laser_link (tf/static_transform_publisher)
encoder_vel (encoder_driver/Encoder_vel.py)
imu_sonser_spec (serial_imu/serial_imu)
lslidar_x10_driver_node (lslidar_x10_driver/lslidar_x10_driver_node)
racecar_driver (racecar_driver/racecar_driver_node)
rosbridge_server (rosbridge_server/rosbridge_websocket)
auto-starting new master
process[master]: started with pid [66]
ROS_MASTER_URI=http://192.168.5.100:11311
setting /run_id to 1a54deac-cbc5-11f0-9652-2c52afb5f6d1
process[rosout-1]: started with pid [79]
started core service [/rosout]
process[base_footprint2base_link-2]: started with pid [82]
process[base_link2laser_link-3]: started with pid [83]
process[base_link2imu-4]: started with pid [84]
process[lslidar_x10_driver_node-5]: started with pid [85]
process[imu_sonser_spec-6]: started with pid [86]
process[encoder_vel-7]: started with pid [87]
process[racecar_driver-8]: started with pid [88]
process[rosbridge_server-9]: started with pid [89]
[rosbridge_server-9] killing on exit
[racecar_driver-8] killing on exit
[encoder_vel-7] killing on exit
[imu_sonser_spec-6] killing on exit
[lslidar_x10_driver_node-5] killing on exit
[base_link2imu-4] killing on exit
[base_link2laser_link-3] killing on exit
[base_footprint2base_link-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Run_car.launch 进程已终止。
amcl_nav.launch 进程已终止。
root@davinci-mini:/racecar# ^C
root@davinci-mini:/racecar# bash nav_one.sh
2025-11-27 19:14:55+0000 [-] Log opened.
2025-11-27 19:14:55+0000 [-] registered capabilities (classes):
2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.call_service.CallService'>
2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.advertise.Advertise'>
2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.publish.Publish'>
2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.subscribe.Subscribe'>
2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'>
2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.service_response.ServiceResponse'>
2025-11-27 19:14:55+0000 [-] - <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'>
2025-11-27 19:14:55+0000 [-] WebSocketServerFactory starting on 9090
2025-11-27 19:14:55+0000 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffef3acfd0>
2025-11-27 19:14:55+0000 [-] [INFO] [1764270895.708127]: Rosbridge WebSocket server started at ws://0.0.0.0:9090
... logging to /root/.ros/log/593a31d0-cbc5-11f0-acbf-2c52afb5f6d1/roslaunch-davinci-mini-235.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.5.100:35929/
SUMMARY
========
CLEAR PARAMETERS
* /ekf_se/
PARAMETERS
* /amcl/base_frame_id: base_footprint
* /amcl/first_map_only: True
* /amcl/global_frame_id: map
* /amcl/gui_publish_rate: 30.0
* /amcl/initial_cov_aa: 0.2
* /amcl/initial_cov_xx: 0.25
* /amcl/initial_cov_yy: 0.25
* /amcl/initial_pose_a: 0.0
* /amcl/initial_pose_x: 0.0
* /amcl/initial_pose_y: 0.0
* /amcl/kld_err: 0.01
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 30
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 5000
* /amcl/min_particles: 100
* /amcl/odom_alpha1: 0.2
* /amcl/odom_alpha2: 0.2
* /amcl/odom_alpha3: 0.8
* /amcl/odom_alpha4: 0.2
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.1
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 2
* /amcl/tf_broadcast: True
* /amcl/transform_tolerance: 0.1
* /amcl/update_min_a: 0.1
* /amcl/update_min_d: 0.1
* /amcl/use_map_topic: True
* /car_controller/Angle_gain_d: -4.0
* /car_controller/Angle_gain_p: -4.0
* /car_controller/Lfw: 1.5
* /car_controller/Person1: 666
* /car_controller/Person2: 580
* /car_controller/Stopcar: 52
* /car_controller/Stoplight: 43
* /car_controller/Vcmd: 1.5
* /car_controller/baseAngle: 65.0
* /car_controller/baseSpeed: 1670
* /car_controller/first_lap: 100
* /car_controller/goalRadius: 0.7
* /car_controller/second_lap: 510
* /car_controller/vp_max_base: 75
* /car_controller/vp_min: 60
* /ekf_se/base_link_frame: /base_footprint
* /ekf_se/debug: False
* /ekf_se/debug_out_file: /path/to/debug/fi...
* /ekf_se/frequency: 20
* /ekf_se/imu0: /imu_data
* /ekf_se/imu0_config: [False, False, Fa...
* /ekf_se/imu0_differential: False
* /ekf_se/imu0_linear_acceleration_rejection_threshold: 2
* /ekf_se/imu0_nodelay: False
* /ekf_se/imu0_pose_rejection_threshold: 2.0
* /ekf_se/imu0_queue_size: 8
* /ekf_se/imu0_relative: True
* /ekf_se/imu0_remove_gravitational_acceleration: True
* /ekf_se/imu0_twist_rejection_threshold: 2.0
* /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,...
* /ekf_se/map_frame: /map
* /ekf_se/odom0: /rf2o_laser_odome...
* /ekf_se/odom0_config: [False, False, Fa...
* /ekf_se/odom0_differential: True
* /ekf_se/odom0_nodelay: True
* /ekf_se/odom0_pose_rejection_threshold: 8
* /ekf_se/odom0_queue_size: 5
* /ekf_se/odom0_twist_rejection_threshold: 4
* /ekf_se/odom1: /encoder_imu_odom
* /ekf_se/odom1_config: [True, True, Fals...
* /ekf_se/odom1_differential: True
* /ekf_se/odom1_nodelay: True
* /ekf_se/odom1_queue_size: 5
* /ekf_se/odom1_relative: False
* /ekf_se/odom_frame: /odom
* /ekf_se/print_diagnostics: False
* /ekf_se/process_noise_covariance: [0.25, 0, 0, 0, 0...
* /ekf_se/publish_acceleration: True
* /ekf_se/publish_tf: True
* /ekf_se/sensor_timeout: 0.025
* /ekf_se/transform_time_offset: 0.0001
* /ekf_se/transform_timeout: 0.025
* /ekf_se/two_d_mode: True
* /ekf_se/world_frame: /odom
* /move_base/GlobalPlanner/allow_unknown: True
* /move_base/GlobalPlanner/cost_factor: 0.54
* /move_base/GlobalPlanner/default_tolerance: 0.2
* /move_base/GlobalPlanner/lethal_cost: 253
* /move_base/GlobalPlanner/neutral_cost: 21
* /move_base/GlobalPlanner/old_navfn_behavior: False
* /move_base/GlobalPlanner/orientation_mode: 0
* /move_base/GlobalPlanner/orientation_window_size: 1
* /move_base/GlobalPlanner/publish_potential: True
* /move_base/GlobalPlanner/use_dijkstra: False
* /move_base/GlobalPlanner/use_grid_path: True
* /move_base/GlobalPlanner/use_quadratic: True
* /move_base/GlobalPlanner/visualize_potential: False
* /move_base/NavfnROS/allow_unknown: False
* /move_base/TebLocalPlannerROS/acc_lim_theta: 60
* /move_base/TebLocalPlannerROS/acc_lim_x: 0.188
* /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: False
* /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False
* /move_base/TebLocalPlannerROS/complete_global_plan: True
* /move_base/TebLocalPlannerROS/costmap_converter_plugin:
* /move_base/TebLocalPlannerROS/costmap_converter_rate: 8
* /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True
* /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 0.1
* /move_base/TebLocalPlannerROS/delete_detours_backwards: True
* /move_base/TebLocalPlannerROS/dt_hysteresis: 0.05
* /move_base/TebLocalPlannerROS/dt_ref: 0.21
* /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.1
* /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: True
* /move_base/TebLocalPlannerROS/enable_multithreading: False
* /move_base/TebLocalPlannerROS/exact_arc_length: True
* /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 10
* /move_base/TebLocalPlannerROS/footprint_model: polygon
* /move_base/TebLocalPlannerROS/free_goal_vel: True
* /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True
* /move_base/TebLocalPlannerROS/global_plan_prune_distance: 1
* /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: -1
* /move_base/TebLocalPlannerROS/h_signature_prescaler: 0.5
* /move_base/TebLocalPlannerROS/h_signature_threshold: 0.1
* /move_base/TebLocalPlannerROS/include_costmap_obstacles: True
* /move_base/TebLocalPlannerROS/include_dynamic_obstacles: True
* /move_base/TebLocalPlannerROS/inflation_dist: 0.62
* /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 4.0
* /move_base/TebLocalPlannerROS/max_number_classes: 5
* /move_base/TebLocalPlannerROS/max_ratio_detours_duration_best_duration: 3.0
* /move_base/TebLocalPlannerROS/max_samples: 500
* /move_base/TebLocalPlannerROS/max_vel_theta: 85
* /move_base/TebLocalPlannerROS/max_vel_x: 3
* /move_base/TebLocalPlannerROS/max_vel_x_backwards: 1.2
* /move_base/TebLocalPlannerROS/max_vel_y: 0.288
* /move_base/TebLocalPlannerROS/min_turning_radius: 0.01
* /move_base/TebLocalPlannerROS/no_inner_iterations: -1
* /move_base/TebLocalPlannerROS/no_outer_iterations: -1
* /move_base/TebLocalPlannerROS/obstacle_cost_exponent: -1
* /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45
* /move_base/TebLocalPlannerROS/obstacle_poses_affected: 20
* /move_base/TebLocalPlannerROS/odom_topic: odom
* /move_base/TebLocalPlannerROS/optimization_activate: True
* /move_base/TebLocalPlannerROS/optimization_verbose: False
* /move_base/TebLocalPlannerROS/oscillation_filter_duration: 10
* /move_base/TebLocalPlannerROS/oscillation_omega_eps: 10
* /move_base/TebLocalPlannerROS/oscillation_recovery: False
* /move_base/TebLocalPlannerROS/oscillation_recovery_min_duration: 20
* /move_base/TebLocalPlannerROS/oscillation_v_eps: 10
* /move_base/TebLocalPlannerROS/penalty_epsilon: 0.01
* /move_base/TebLocalPlannerROS/publish_feedback: False
* /move_base/TebLocalPlannerROS/roadmap_graph_area_length_scale: 1.0
* /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5
* /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15
* /move_base/TebLocalPlannerROS/selection_alternative_time_cost: False
* /move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0
* /move_base/TebLocalPlannerROS/selection_obst_cost_scale: 1.0
* /move_base/TebLocalPlannerROS/selection_prefer_initial_plan: 0.95
* /move_base/TebLocalPlannerROS/shrink_horizon_backup: True
* /move_base/TebLocalPlannerROS/shrink_horizon_min_duration: 3
* /move_base/TebLocalPlannerROS/switching_blocking_period: 0.0
* /move_base/TebLocalPlannerROS/teb_autosize: True
* /move_base/TebLocalPlannerROS/type: polygon
* /move_base/TebLocalPlannerROS/vertices: [[-0.175, -0.25],...
* /move_base/TebLocalPlannerROS/viapoints_all_candidates: True
* /move_base/TebLocalPlannerROS/visualize_hc_graph: True
* /move_base/TebLocalPlannerROS/visualize_with_time_as_z_axis_scale: False
* /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 10
* /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1
* /move_base/TebLocalPlannerROS/weight_adapt_factor: 20
* /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 10
* /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 5
* /move_base/TebLocalPlannerROS/weight_inflation: 50
* /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 1000
* /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000
* /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 1000
* /move_base/TebLocalPlannerROS/weight_max_vel_theta: 10
* /move_base/TebLocalPlannerROS/weight_max_vel_x: 1
* /move_base/TebLocalPlannerROS/weight_obstacle: 50
* /move_base/TebLocalPlannerROS/weight_optimaltime: 1000
* /move_base/TebLocalPlannerROS/weight_shortest_path: 1
* /move_base/TebLocalPlannerROS/weight_viapoint: 1
* /move_base/TebLocalPlannerROS/wheelbase: 0.335
* /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.01
* /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.03
* /move_base/base_global_planner: navfn/NavfnROS
* /move_base/base_local_planner: teb_local_planner...
* /move_base/clearing_rotation_allowed: False
* /move_base/controller_frequency: 10.0
* /move_base/controller_patience: 6.0
* /move_base/global_costmap/footprint: [[-0.175, -0.25],...
* /move_base/global_costmap/footprint_padding: 0.01
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/height: 25.0
* /move_base/global_costmap/inflation/cost_scaling_factor: 2.0
* /move_base/global_costmap/inflation/inflation_radius: 0. 1
* /move_base/global_costmap/plugins: [{'name': 'static...
* /move_base/global_costmap/publish_frequency: 1.0
* /move_base/global_costmap/resolution: 0.05
* /move_base/global_costmap/robot_base_frame: base_footprint
* /move_base/global_costmap/rolling_window: True
* /move_base/global_costmap/sensor/laser_scan_sensor/clearing: True
* /move_base/global_costmap/sensor/laser_scan_sensor/data_type: LaserScan
* /move_base/global_costmap/sensor/laser_scan_sensor/marking: True
* /move_base/global_costmap/sensor/laser_scan_sensor/observation_persistence: 0.5
* /move_base/global_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link
* /move_base/global_costmap/sensor/laser_scan_sensor/topic: scan
* /move_base/global_costmap/sensor/observation_sources: laser_scan_sensor
* /move_base/global_costmap/static/map_topic: /map
* /move_base/global_costmap/static/subscribe_to_updates: True
* /move_base/global_costmap/track_unknown_space: False
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 1.0
* /move_base/global_costmap/width: 25.0
* /move_base/local_costmap/footprint: [[-0.175, -0.25],...
* /move_base/local_costmap/footprint_padding: 0.01
* /move_base/local_costmap/global_frame: map
* /move_base/local_costmap/height: 3.0
* /move_base/local_costmap/inflation/cost_scaling_factor: 6.0
* /move_base/local_costmap/inflation/inflation_radius: 0.1
* /move_base/local_costmap/plugins: [{'name': 'sensor...
* /move_base/local_costmap/publish_frequency: 1.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_footprint
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/sensor/laser_scan_sensor/clearing: True
* /move_base/local_costmap/sensor/laser_scan_sensor/data_type: LaserScan
* /move_base/local_costmap/sensor/laser_scan_sensor/marking: True
* /move_base/local_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link
* /move_base/local_costmap/sensor/laser_scan_sensor/topic: scan
* /move_base/local_costmap/sensor/observation_sources: laser_scan_sensor
* /move_base/local_costmap/track_unknown_space: False
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 1.0
* /move_base/local_costmap/width: 3.0
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 10.0
* /move_base/planner_patience: 5.0
* /move_base/shutdown_costmaps: False
* /rf2o_laser_odometry/base_frame_id: base_footprint
* /rf2o_laser_odometry/freq: 20.0
* /rf2o_laser_odometry/laser_scan_topic: scan
* /rf2o_laser_odometry/odom_frame_id: odom
* /rf2o_laser_odometry/odom_topic: odom_rf2o
* /rf2o_laser_odometry/publish_tf: False
* /rf2o_laser_odometry/verbose: True
* /rosdistro: noetic
* /rosversion: 1.15.13
NODES
/
amcl (amcl/amcl)
car_controller (racecar/car_controller_new)
ekf_se (robot_localization/ekf_localization_node)
map_server (map_server/map_server)
move_base (move_base/move_base)
rf2o_laser_odometry (rf2o_laser_odometry/rf2o_laser_odometry_node)
wheel_odom (encoder_driver/encoder_driver_node1)
[ WARN] [1764270901.074929580]: Failed to meet update rate! Took 0.1020085420000000076
^C终止 ROS 启动进程...
lslidar_x10_driver_node: /usr/include/boost/thread/pthread/condition_variable_fwd.hpp:81: boost::condition_variable::~condition_variable(): Assertion `!posix::pthread_mutex_destroy(&internal_mutex)' failed.
[ INFO] [1764270899.968804781]: ??????????????????????????????
[ INFO] [1764270901.013836659]: Subscribed to map topic.
[ INFO] [1764270901.452807176]: Received a 608 X 384 map @ 0.050 m/pix
[ INFO] [1764270901.485205220]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1764270901.599203612]: Done initializing likelihood field model.
[DEBUG] [1764270895.085141]: init_node, name[/encoder_vel], pid[205]
[DEBUG] [1764270895.091976]: binding to 0.0.0.0 0
[DEBUG] [1764270895.095563]: bound to 0.0.0.0 34779
[DEBUG] [1764270895.099010]: ... service URL is rosrpc://192.168.5.100:34779
[DEBUG] [1764270895.102058]: [/encoder_vel/get_loggers]: new Service instance
[DEBUG] [1764270895.107122]: ... service URL is rosrpc://192.168.5.100:34779
[DEBUG] [1764270895.109904]: [/encoder_vel/set_logger_level]: new Service instance
True
2025-11-27 19:16:49+0000 [autobahn.twisted.websocket.WebSocketServerFactory] (TCP Port 9090 Closed)
2025-11-27 19:16:49+0000 [-] Stopping factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffef3acfd0>
2025-11-27 19:16:49+0000 [-] Main loop terminated.
ROS_MASTER_URI=http://192.168.5.100:11311
process[map_server-1]: started with pid [256]
process[rf2o_laser_odometry-2]: started with pid [257]
process[wheel_odom-3]: started with pid [258]
process[ekf_se-4]: started with pid [259]
process[amcl-5]: started with pid [266]
process[move_base-6]: started with pid [268]
process[car_controller-7]: started with pid [269]
[car_controller-7] killing on exit
[move_base-6] killing on exit
[amcl-5] killing on exit
[ekf_se-4] killing on exit
[map_server-1] killing on exit
[wheel_odom-3] killing on exit
[rf2o_laser_odometry-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
WARNING: ignoring defunct <master /> tag
... logging to /root/.ros/log/593a31d0-cbc5-11f0-acbf-2c52afb5f6d1/roslaunch-davinci-mini-159.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.5.100:35239/
SUMMARY
========
PARAMETERS
* /encoder_vel/baud_rate: 57600
* /encoder_vel/k: 0.88
* /encoder_vel/serial_port: /dev/encoder
* /lslidar_x10_driver_node/angle_disable_max: 0.0
* /lslidar_x10_driver_node/angle_disable_min: 0.0
* /lslidar_x10_driver_node/child_frame_id: laser_link
* /lslidar_x10_driver_node/interface_selection: serial
* /lslidar_x10_driver_node/lidar_name: M10
* /lslidar_x10_driver_node/max_range: 100.0
* /lslidar_x10_driver_node/min_range: 0
* /lslidar_x10_driver_node/scan_topic: scan
* /lslidar_x10_driver_node/serial_port: /dev/laser
* /lslidar_x10_driver_node/use_gps_ts: False
* /rosbridge_server/websocket_port: 9090
* /rosdistro: noetic
* /rosversion: 1.15.13
NODES
/
base_footprint2base_link (tf/static_transform_publisher)
base_link2imu (tf/static_transform_publisher)
base_link2laser_link (tf/static_transform_publisher)
encoder_vel (encoder_driver/Encoder_vel.py)
imu_sonser_spec (serial_imu/serial_imu)
lslidar_x10_driver_node (lslidar_x10_driver/lslidar_x10_driver_node)
racecar_driver (racecar_driver/racecar_driver_node)
rosbridge_server (rosbridge_server/rosbridge_websocket)
auto-starting new master
process[master]: started with pid [169]
ROS_MASTER_URI=http://192.168.5.100:11311
setting /run_id to 593a31d0-cbc5-11f0-acbf-2c52afb5f6d1
process[rosout-1]: started with pid [179]
started core service [/rosout]
process[base_footprint2base_link-2]: started with pid [186]
process[base_link2laser_link-3]: started with pid [187]
process[base_link2imu-4]: started with pid [188]
process[lslidar_x10_driver_node-5]: started with pid [193]
process[imu_sonser_spec-6]: started with pid [199]
process[encoder_vel-7]: started with pid [205]
process[racecar_driver-8]: started with pid [211]
process[rosbridge_server-9]: started with pid [217]
[rosbridge_server-9] killing on exit
[racecar_driver-8] killing on exit
[encoder_vel-7] killing on exit
[imu_sonser_spec-6] killing on exit
[lslidar_x10_driver_node-5] killing on exit
[base_footprint2base_link-2] killing on exit
[base_link2imu-4] killing on exit
[base_link2laser_link-3] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Run_car.launch 进程已终止。
amcl_nav.launch 进程已终止。
root@davinci-mini:/racecar# bash nav_one.sh
2025-11-27 19:16:56+0000 [-] Log opened.
2025-11-27 19:16:56+0000 [-] registered capabilities (classes):
2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.call_service.CallService'>
2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.advertise.Advertise'>
2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.publish.Publish'>
2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.subscribe.Subscribe'>
2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'>
2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.service_response.ServiceResponse'>
2025-11-27 19:16:56+0000 [-] - <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'>
2025-11-27 19:16:57+0000 [-] WebSocketServerFactory starting on 9090
2025-11-27 19:16:57+0000 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffc75d7c70>
2025-11-27 19:16:57+0000 [-] [INFO] [1764271017.157078]: Rosbridge WebSocket server started at ws://0.0.0.0:9090
... logging to /root/.ros/log/a199425e-cbc5-11f0-86b4-2c52afb5f6d1/roslaunch-davinci-mini-476.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.5.100:43287/
SUMMARY
========
CLEAR PARAMETERS
* /ekf_se/
PARAMETERS
* /amcl/base_frame_id: base_footprint
* /amcl/first_map_only: True
* /amcl/global_frame_id: map
* /amcl/gui_publish_rate: 30.0
* /amcl/initial_cov_aa: 0.2
* /amcl/initial_cov_xx: 0.25
* /amcl/initial_cov_yy: 0.25
* /amcl/initial_pose_a: 0.0
* /amcl/initial_pose_x: 0.0
* /amcl/initial_pose_y: 0.0
* /amcl/kld_err: 0.01
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 30
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 5000
* /amcl/min_particles: 100
* /amcl/odom_alpha1: 0.2
* /amcl/odom_alpha2: 0.2
* /amcl/odom_alpha3: 0.8
* /amcl/odom_alpha4: 0.2
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.1
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 2
* /amcl/tf_broadcast: True
* /amcl/transform_tolerance: 0.1
* /amcl/update_min_a: 0.1
* /amcl/update_min_d: 0.1
* /amcl/use_map_topic: True
* /car_controller/Angle_gain_d: -4.0
* /car_controller/Angle_gain_p: -4.0
* /car_controller/Lfw: 1.5
* /car_controller/Person1: 666
* /car_controller/Person2: 580
* /car_controller/Stopcar: 52
* /car_controller/Stoplight: 43
* /car_controller/Vcmd: 1.5
* /car_controller/baseAngle: 65.0
* /car_controller/baseSpeed: 1670
* /car_controller/first_lap: 100
* /car_controller/goalRadius: 0.7
* /car_controller/second_lap: 510
* /car_controller/vp_max_base: 75
* /car_controller/vp_min: 60
* /ekf_se/base_link_frame: /base_footprint
* /ekf_se/debug: False
* /ekf_se/debug_out_file: /path/to/debug/fi...
* /ekf_se/frequency: 20
* /ekf_se/imu0: /imu_data
* /ekf_se/imu0_config: [False, False, Fa...
* /ekf_se/imu0_differential: False
* /ekf_se/imu0_linear_acceleration_rejection_threshold: 2
* /ekf_se/imu0_nodelay: False
* /ekf_se/imu0_pose_rejection_threshold: 2.0
* /ekf_se/imu0_queue_size: 8
* /ekf_se/imu0_relative: True
* /ekf_se/imu0_remove_gravitational_acceleration: True
* /ekf_se/imu0_twist_rejection_threshold: 2.0
* /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,...
* /ekf_se/map_frame: /map
* /ekf_se/odom0: /rf2o_laser_odome...
* /ekf_se/odom0_config: [False, False, Fa...
* /ekf_se/odom0_differential: True
* /ekf_se/odom0_nodelay: True
* /ekf_se/odom0_pose_rejection_threshold: 8
* /ekf_se/odom0_queue_size: 5
* /ekf_se/odom0_twist_rejection_threshold: 4
* /ekf_se/odom1: /encoder_imu_odom
* /ekf_se/odom1_config: [True, True, Fals...
* /ekf_se/odom1_differential: True
* /ekf_se/odom1_nodelay: True
* /ekf_se/odom1_queue_size: 5
* /ekf_se/odom1_relative: False
* /ekf_se/odom_frame: /odom
* /ekf_se/print_diagnostics: False
* /ekf_se/process_noise_covariance: [0.25, 0, 0, 0, 0...
* /ekf_se/publish_acceleration: True
* /ekf_se/publish_tf: True
* /ekf_se/sensor_timeout: 0.025
* /ekf_se/transform_time_offset: 0.0001
* /ekf_se/transform_timeout: 0.025
* /ekf_se/two_d_mode: True
* /ekf_se/world_frame: /odom
* /move_base/GlobalPlanner/allow_unknown: True
* /move_base/GlobalPlanner/cost_factor: 0.54
* /move_base/GlobalPlanner/default_tolerance: 0.2
* /move_base/GlobalPlanner/lethal_cost: 253
* /move_base/GlobalPlanner/neutral_cost: 21
* /move_base/GlobalPlanner/old_navfn_behavior: False
* /move_base/GlobalPlanner/orientation_mode: 0
* /move_base/GlobalPlanner/orientation_window_size: 1
* /move_base/GlobalPlanner/publish_potential: True
* /move_base/GlobalPlanner/use_dijkstra: False
* /move_base/GlobalPlanner/use_grid_path: True
* /move_base/GlobalPlanner/use_quadratic: True
* /move_base/GlobalPlanner/visualize_potential: False
* /move_base/NavfnROS/allow_unknown: False
* /move_base/TebLocalPlannerROS/acc_lim_theta: 60
* /move_base/TebLocalPlannerROS/acc_lim_x: 0.188
* /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: False
* /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False
* /move_base/TebLocalPlannerROS/complete_global_plan: True
* /move_base/TebLocalPlannerROS/costmap_converter_plugin:
* /move_base/TebLocalPlannerROS/costmap_converter_rate: 8
* /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True
* /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 0.1
* /move_base/TebLocalPlannerROS/delete_detours_backwards: True
* /move_base/TebLocalPlannerROS/dt_hysteresis: 0.05
* /move_base/TebLocalPlannerROS/dt_ref: 0.21
* /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.1
* /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: True
* /move_base/TebLocalPlannerROS/enable_multithreading: False
* /move_base/TebLocalPlannerROS/exact_arc_length: True
* /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 10
* /move_base/TebLocalPlannerROS/footprint_model: polygon
* /move_base/TebLocalPlannerROS/free_goal_vel: True
* /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True
* /move_base/TebLocalPlannerROS/global_plan_prune_distance: 1
* /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: -1
* /move_base/TebLocalPlannerROS/h_signature_prescaler: 0.5
* /move_base/TebLocalPlannerROS/h_signature_threshold: 0.1
* /move_base/TebLocalPlannerROS/include_costmap_obstacles: True
* /move_base/TebLocalPlannerROS/include_dynamic_obstacles: True
* /move_base/TebLocalPlannerROS/inflation_dist: 0.62
* /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 4.0
* /move_base/TebLocalPlannerROS/max_number_classes: 5
* /move_base/TebLocalPlannerROS/max_ratio_detours_duration_best_duration: 3.0
* /move_base/TebLocalPlannerROS/max_samples: 500
* /move_base/TebLocalPlannerROS/max_vel_theta: 85
* /move_base/TebLocalPlannerROS/max_vel_x: 3
* /move_base/TebLocalPlannerROS/max_vel_x_backwards: 1.2
* /move_base/TebLocalPlannerROS/max_vel_y: 0.288
* /move_base/TebLocalPlannerROS/min_turning_radius: 0.01
* /move_base/TebLocalPlannerROS/no_inner_iterations: -1
* /move_base/TebLocalPlannerROS/no_outer_iterations: -1
* /move_base/TebLocalPlannerROS/obstacle_cost_exponent: -1
* /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45
* /move_base/TebLocalPlannerROS/obstacle_poses_affected: 20
* /move_base/TebLocalPlannerROS/odom_topic: odom
* /move_base/TebLocalPlannerROS/optimization_activate: True
* /move_base/TebLocalPlannerROS/optimization_verbose: False
* /move_base/TebLocalPlannerROS/oscillation_filter_duration: 10
* /move_base/TebLocalPlannerROS/oscillation_omega_eps: 10
* /move_base/TebLocalPlannerROS/oscillation_recovery: False
* /move_base/TebLocalPlannerROS/oscillation_recovery_min_duration: 20
* /move_base/TebLocalPlannerROS/oscillation_v_eps: 10
* /move_base/TebLocalPlannerROS/penalty_epsilon: 0.01
* /move_base/TebLocalPlannerROS/publish_feedback: False
* /move_base/TebLocalPlannerROS/roadmap_graph_area_length_scale: 1.0
* /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5
* /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15
* /move_base/TebLocalPlannerROS/selection_alternative_time_cost: False
* /move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0
* /move_base/TebLocalPlannerROS/selection_obst_cost_scale: 1.0
* /move_base/TebLocalPlannerROS/selection_prefer_initial_plan: 0.95
* /move_base/TebLocalPlannerROS/shrink_horizon_backup: True
* /move_base/TebLocalPlannerROS/shrink_horizon_min_duration: 3
* /move_base/TebLocalPlannerROS/switching_blocking_period: 0.0
* /move_base/TebLocalPlannerROS/teb_autosize: True
* /move_base/TebLocalPlannerROS/type: polygon
* /move_base/TebLocalPlannerROS/vertices: [[-0.175, -0.25],...
* /move_base/TebLocalPlannerROS/viapoints_all_candidates: True
* /move_base/TebLocalPlannerROS/visualize_hc_graph: True
* /move_base/TebLocalPlannerROS/visualize_with_time_as_z_axis_scale: False
* /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 10
* /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1
* /move_base/TebLocalPlannerROS/weight_adapt_factor: 20
* /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 10
* /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 5
* /move_base/TebLocalPlannerROS/weight_inflation: 50
* /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 1000
* /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000
* /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 1000
* /move_base/TebLocalPlannerROS/weight_max_vel_theta: 10
* /move_base/TebLocalPlannerROS/weight_max_vel_x: 1
* /move_base/TebLocalPlannerROS/weight_obstacle: 50
* /move_base/TebLocalPlannerROS/weight_optimaltime: 1000
* /move_base/TebLocalPlannerROS/weight_shortest_path: 1
* /move_base/TebLocalPlannerROS/weight_viapoint: 1
* /move_base/TebLocalPlannerROS/wheelbase: 0.335
* /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.01
* /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.03
* /move_base/base_global_planner: navfn/NavfnROS
* /move_base/base_local_planner: teb_local_planner...
* /move_base/clearing_rotation_allowed: False
* /move_base/controller_frequency: 10.0
* /move_base/controller_patience: 6.0
* /move_base/global_costmap/footprint: [[-0.175, -0.25],...
* /move_base/global_costmap/footprint_padding: 0.01
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/height: 25.0
* /move_base/global_costmap/inflation/cost_scaling_factor: 2.0
* /move_base/global_costmap/inflation/inflation_radius: 0. 1
* /move_base/global_costmap/plugins: [{'name': 'static...
* /move_base/global_costmap/publish_frequency: 1.0
* /move_base/global_costmap/resolution: 0.05
* /move_base/global_costmap/robot_base_frame: base_footprint
* /move_base/global_costmap/rolling_window: True
* /move_base/global_costmap/sensor/laser_scan_sensor/clearing: True
* /move_base/global_costmap/sensor/laser_scan_sensor/data_type: LaserScan
* /move_base/global_costmap/sensor/laser_scan_sensor/marking: True
* /move_base/global_costmap/sensor/laser_scan_sensor/observation_persistence: 0.5
* /move_base/global_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link
* /move_base/global_costmap/sensor/laser_scan_sensor/topic: scan
* /move_base/global_costmap/sensor/observation_sources: laser_scan_sensor
* /move_base/global_costmap/static/map_topic: /map
* /move_base/global_costmap/static/subscribe_to_updates: True
* /move_base/global_costmap/track_unknown_space: False
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 1.0
* /move_base/global_costmap/width: 25.0
* /move_base/local_costmap/footprint: [[-0.175, -0.25],...
* /move_base/local_costmap/footprint_padding: 0.01
* /move_base/local_costmap/global_frame: map
* /move_base/local_costmap/height: 3.0
* /move_base/local_costmap/inflation/cost_scaling_factor: 6.0
* /move_base/local_costmap/inflation/inflation_radius: 0.1
* /move_base/local_costmap/plugins: [{'name': 'sensor...
* /move_base/local_costmap/publish_frequency: 1.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_footprint
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/sensor/laser_scan_sensor/clearing: True
* /move_base/local_costmap/sensor/laser_scan_sensor/data_type: LaserScan
* /move_base/local_costmap/sensor/laser_scan_sensor/marking: True
* /move_base/local_costmap/sensor/laser_scan_sensor/sensor_frame: laser_link
* /move_base/local_costmap/sensor/laser_scan_sensor/topic: scan
* /move_base/local_costmap/sensor/observation_sources: laser_scan_sensor
* /move_base/local_costmap/track_unknown_space: False
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 1.0
* /move_base/local_costmap/width: 3.0
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 10.0
* /move_base/planner_patience: 5.0
* /move_base/shutdown_costmaps: False
* /rf2o_laser_odometry/base_frame_id: base_footprint
* /rf2o_laser_odometry/freq: 20.0
* /rf2o_laser_odometry/laser_scan_topic: scan
* /rf2o_laser_odometry/odom_frame_id: odom
* /rf2o_laser_odometry/odom_topic: odom_rf2o
* /rf2o_laser_odometry/publish_tf: False
* /rf2o_laser_odometry/verbose: True
* /rosdistro: noetic
* /rosversion: 1.15.13
NODES
/
amcl (amcl/amcl)
car_controller (racecar/car_controller_new)
ekf_se (robot_localization/ekf_localization_node)
map_server (map_server/map_server)
move_base (move_base/move_base)
rf2o_laser_odometry (rf2o_laser_odometry/rf2o_laser_odometry_node)
wheel_odom (encoder_driver/encoder_driver_node1)
^C终止 ROS 启动进程...
[ INFO] [1764271020.971795831]: ??????????????????????????????
[ INFO] [1764271020.886512045]: Subscribed to map topic.
[ INFO] [1764271021.127392896]: Received a 608 X 384 map @ 0.050 m/pix
[ INFO] [1764271021.158670011]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1764271021.265183670]: Done initializing likelihood field model.
lslidar_x10_driver_node: /usr/include/boost/thread/pthread/condition_variable_fwd.hpp:81: boost::condition_variable::~condition_variable(): Assertion `!posix::pthread_mutex_destroy(&internal_mutex)' failed.
2025-11-27 19:18:26+0000 [autobahn.twisted.websocket.WebSocketServerFactory] (TCP Port 9090 Closed)
2025-11-27 19:18:26+0000 [-] Stopping factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xe7ffc75d7c70>
2025-11-27 19:18:26+0000 [-] Main loop terminated.
[DEBUG] [1764271016.495434]: init_node, name[/encoder_vel], pid[443]
[DEBUG] [1764271016.503376]: binding to 0.0.0.0 0
[DEBUG] [1764271016.507268]: bound to 0.0.0.0 38955
[DEBUG] [1764271016.511287]: ... service URL is rosrpc://192.168.5.100:38955
[DEBUG] [1764271016.514807]: [/encoder_vel/get_loggers]: new Service instance
[DEBUG] [1764271016.520463]: ... service URL is rosrpc://192.168.5.100:38955
[DEBUG] [1764271016.523488]: [/encoder_vel/set_logger_level]: new Service instance
True
ROS_MASTER_URI=http://192.168.5.100:11311
process[map_server-1]: started with pid [496]
process[rf2o_laser_odometry-2]: started with pid [497]
process[wheel_odom-3]: started with pid [498]
process[ekf_se-4]: started with pid [499]
process[amcl-5]: started with pid [513]
process[move_base-6]: started with pid [522]
process[car_controller-7]: started with pid [526]
[car_controller-7] killing on exit
[move_base-6] killing on exit
[amcl-5] killing on exit
[ekf_se-4] killing on exit
[wheel_odom-3] killing on exit
[rf2o_laser_odometry-2] killing on exit
[map_server-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
WARNING: ignoring defunct <master /> tag
... logging to /root/.ros/log/a199425e-cbc5-11f0-86b4-2c52afb5f6d1/roslaunch-davinci-mini-400.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.5.100:37043/
SUMMARY
========
PARAMETERS
* /encoder_vel/baud_rate: 57600
* /encoder_vel/k: 0.88
* /encoder_vel/serial_port: /dev/encoder
* /lslidar_x10_driver_node/angle_disable_max: 0.0
* /lslidar_x10_driver_node/angle_disable_min: 0.0
* /lslidar_x10_driver_node/child_frame_id: laser_link
* /lslidar_x10_driver_node/interface_selection: serial
* /lslidar_x10_driver_node/lidar_name: M10
* /lslidar_x10_driver_node/max_range: 100.0
* /lslidar_x10_driver_node/min_range: 0
* /lslidar_x10_driver_node/scan_topic: scan
* /lslidar_x10_driver_node/serial_port: /dev/laser
* /lslidar_x10_driver_node/use_gps_ts: False
* /rosbridge_server/websocket_port: 9090
* /rosdistro: noetic
* /rosversion: 1.15.13
NODES
/
base_footprint2base_link (tf/static_transform_publisher)
base_link2imu (tf/static_transform_publisher)
base_link2laser_link (tf/static_transform_publisher)
encoder_vel (encoder_driver/Encoder_vel.py)
imu_sonser_spec (serial_imu/serial_imu)
lslidar_x10_driver_node (lslidar_x10_driver/lslidar_x10_driver_node)
racecar_driver (racecar_driver/racecar_driver_node)
rosbridge_server (rosbridge_server/rosbridge_websocket)
auto-starting new master
process[master]: started with pid [410]
ROS_MASTER_URI=http://192.168.5.100:11311
setting /run_id to a199425e-cbc5-11f0-86b4-2c52afb5f6d1
process[rosout-1]: started with pid [420]
started core service [/rosout]
process[base_footprint2base_link-2]: started with pid [427]
process[base_link2laser_link-3]: started with pid [428]
process[base_link2imu-4]: started with pid [429]
process[lslidar_x10_driver_node-5]: started with pid [434]
process[imu_sonser_spec-6]: started with pid [440]
process[encoder_vel-7]: started with pid [443]
process[racecar_driver-8]: started with pid [449]
process[rosbridge_server-9]: started with pid [459]
[rosbridge_server-9] killing on exit
[racecar_driver-8] killing on exit
[encoder_vel-7] killing on exit
[imu_sonser_spec-6] killing on exit
[lslidar_x10_driver_node-5] killing on exit
[base_link2imu-4] killing on exit
[base_link2laser_link-3] killing on exit
[base_footprint2base_link-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Run_car.launch 进程已终止。
amcl_nav.launch 进程已终止。
分析一下有啥问题吗
最新发布