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RSS订阅原创 latex一点问题
希望在\Rightarrow上加字，然而可以使用\xrightarrow[?}，却不能使用\xRightarrow[?解决办法 \usepackage{mathtools}
2023-12-12 17:55:26
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原创 2022同济825自控原理
1.求RLCRLCRLC电路的传递函数2.求Mass−Spring−DamperMass-Spring-DamperMass−Spring−Damper的传递函数3.判断两个特征方程的稳定性，求其右半平面根的个数4.求Mass−Spring−DamperMass-Spring-DamperMass−Spring−Damper的传递函数，幅频特性曲线，谐振频率，对正弦信号稳态响应5.绘制G(s)=Ks−1s2+1G(s)=K\frac{s-1}{s^2+1}G(s)=Ks2+1s−1的根轨迹，求使得
2022-01-02 08:53:41
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原创 导纳控制 admittance control
简单记录一下导纳控制。对于一个质量块mmm，其位移记为xxx，我们期望它按照预期保持在x0x_0x0。质量块受到环境的外力，记为FextF_{ext}Fext。施加的控制的力记为FFF。导纳控制希望通过控制使得将外力转化为相对期望位移的偏差位移。mx¨=F+Fextm\ddot x=F+F_{ext}mx¨=F+Fexte=x−x0e=x-x_0e=x−x0，Mde¨+Dde˙+Kde=FextM_d\ddot e+D_d\dot e+K_de=F_{ext}Mde¨+Dde˙+Kd
2021-11-02 21:02:07
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原创 orb_slam2_pointcloud 编译错误
/ORB_SLAM2_PointCloud/src/pointcloudmapping.cc:42:24: error: ‘make_shared’ is not a member of ‘boost’42 | globalMap = boost::make_shared< PointCloud >( );| ^~~~~~~~~~~解决办法：添加#include <boost/make_shared.hpp>...
2021-08-29 10:11:26
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原创 ORB_SLAM2_modified编译
CMake Error at CMakeLists.txt:37 (message):OpenCV > 2.4.3 not found.– Configuring incomplete, errors occurred!/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/CMakeLists.txt 33行find_package(OpenCV 3.0 QUIET)并添加SET(CMAKE_CXX_STANDARD 14)改为set(O
2021-08-27 22:57:24
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原创 g2o编译错误
/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:51:39: error: cannot convert ‘Eigen::Rotation2D::Scalar’ {aka ‘double’} to ‘const Rotation2Dd&’ {aka ‘const Eigen::Rotation2D&’}51 | t.setRotation(t.
2021-08-27 22:16:34
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原创 ORB-SLAM3 ROS Example
git clone git://github.com/UZ-SLAMLab/ORB_SLAM3.git将/src/Localmapping.cc中628行、/src/CameraModels/KannalaBrandt8.cpp534行x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3);改为x3D = cv::Matx31f(x3D_h.get_minor<3,1>(0,0)(0) / x3D_h(3), x3D_h.get_minor<3
2021-08-23 19:54:22
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原创 error: ‘usleep‘ was not declared in this scope解决办法
error: ‘usleep’ was not declared in this scope对应.h文件中添加#include <unistd.h>
2021-08-04 20:19:58
3049
原创 AttributeError: ‘dict_keys‘ object has no attribute xxx 整理
AttributeError:'dict_keys' object has no attribute 'sort'将a.sort()改为sorted(a)AttributeError:'dict_keys' object has no attribute 'remove'TypeError: 'dict_keys' object is not subscriptable将a改为list(a)
2021-08-04 19:30:30
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原创 ORB_SLAM2 ROS Example 编译 CMake Error at CMakeLists.txt:37 (message): OpenCV ＞ 2.4.3 not found解决办法
报错CMake Error at CMakeLists.txt:37 (message):OpenCV > 2.4.3 not found.解决办法CMakeLists.txt添加set(OpenCV_DIR /$PATH to opencv/build)find_package(OpenCV QUIET)
2021-08-04 19:25:41
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原创 求解Homography Matrix的DLT方法
对于两张图片进行特征点匹配去除错误的匹配对于现在image1与image2匹配的点集{x1i},{x2i}\{x_{1_i}\},\{x_{2_i}\}{x1i},{x2i}我们希望找到一个矩阵H，使得任意匹配的两个点x1i,x2i,x_{1_i},x_{2_i},x1i,x2i,Hx1=x2.Hx_1=x_2.Hx1=x2.H=(h1h2h3h4h5h6h7h8h9)H=\begin{pmatrix}h_1&h_2&h_3\\h_4&h_5&am
2021-06-10 11:15:00
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原创 Cannot load command parameter [robot_description]解决方法
在github上下载一个ros仿真小车，运行时Invalid tag: Invalid tag: Cannot load command parameter [robot_description]参考 https://wiki.ros.org/noetic/Migration， .launch文件中xacro.py应改为xacro原文件中为<param name="robot_description" command="$(find xacro)/xacro.py '$(find cars
2021-05-19 16:54:08
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原创 rosdep update报错解决方法
rosdep updateERROR: error loading sources list:The read operation timed out尝试了连接热点，修改hosts，科学上网等都无法解决解决方法：sudo sed -i "s/raw.githubusercontent.com/raw.ctl.app/g" /usr/lib/python3/dist-packages/rosdistro/__init__.py sudo sed -i "s/raw.githubusercont
2021-05-19 09:48:57
413
原创 can not be used when making a shared object； recompile with -fPIC的解决方法
在运行roslaunch moveit_setup_assistant setup_assistant.launch发现process[moveit_setup_assistant-2]: started with pid [13920]/opt/ros/noetic/lib/moveit_setup_assistant/moveit_setup_assistant: error while loading shared libraries: libfcl.so.0.6: cannot open s
2021-05-18 17:11:08
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原创 ERROR: cannot launch node of type [robot_state_publisher/state_publisher]解决办法
在下载的Gazebo ROS Demos中，运行roslaunch rrbot_description rrbot_rviz.launch报错ERROR: cannot launch node of type [robot_state_publisher/state_publisher]: Cannot locate node of type [state_publisher] in package [robot_state_publisher]. Make sure file exists in
2021-05-13 08:45:32
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原创 Resource not found: roslaunch的解决方法
按照ROS教程学习时，在运行roscore时出现问题$ roscoreResource not found: roslaunchROS path [0]=/opt/ros/noetic/share/rosROS path [1]=/opt/ros/noetic/shareThe traceback for the exception was written to the log file之前的步骤中进行过$ sudo apt-get install python3-roslaunch只需
2021-05-12 08:45:19
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