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ROS移植机器人小车: rikirobot试运行
经过前面的辛苦工作，我们已经配置好小车的系统了，现在尝试着让小车运行起来。今天收到小车卖家发给我的系统是ubuntu-mate-20.04（clbrobot）；我自己配置的系统是ubuntu20.04（rikirobot）；运行时报错的内容稍有不同，但貌似没有太大的差别。下面我以卖家提供的系统为例主机（小车树莓派）上运行roslaunch clbrobot bringup.launch从机（远程电脑)上运行rosrun teleop_twist_keyboard teleop_twi原创 2022-03-13 12:07:02 · 1744 阅读 · 0 评论 -
ROS移植机器人小车：小车主机与从机电脑的通信
这个主要涉及.bashrc文件及以下三个参数，$ROS_MASTER_URI$ROS_HOSTNAME$ROS_IP其中ROS_IP和ROS_HOSTNAME有什么不同呢？ROS_IP/ROS_HOSTNAMEROS_IP和ROS_HOSTNAME是可选的环境变量，用来设置ROS节点或工具的公开网地址。这两个选项是互斥的，如果两者都设置优先使用ROS_HOSTNAME。如果你指定一个IP地址，使用ROS_IP；如果制定一个主机名(a host name)，使用ROS_HOSTNAME。当一个原创 2022-03-12 12:30:42 · 4385 阅读 · 0 评论 -
（ros//EnvironmentVariables）ros环境变量
（ros//EnvironmentVariables）ros环境变量ROS/EnvironmentVariables 在ROS中，可以设置很多环境变量。最需要理解的是ROS_MASTER_URI,ROS_ROOT和ROS_PACKAGE_PATH，因为他们频繁的在系统和文件中被用到。环境变量在ROS中有多重角色：1 寻找packages(Findingpackages)： 首先，ROS_ROOT和ROS_PACKAGE_PATH使ROS在系统文件(filesyste...转载 2022-03-12 11:40:41 · 1262 阅读 · 0 评论 -
ROS + UDEV管理开源小车rikirobot的USB设备
在弄清楚udev的规则后，我们来看一下rikirobot的设备管理。ros项目使用usb接口串口通讯的传感器时，我们都希望有个固定的设备名供程序调用。由于usb为即插即用设备，节点注册的ID不同，会导致设备名称会不同。linux系统下如何让系统绑定固有的usb设备，使用设定好的设备名称？如何永久修改设备权限？解决办法编写规则文件,放到系统配置路径下，进行设置后，即可一劳永逸。规则配置路径：/etc/udev/rules.d/规则文件以.rules作为扩展名。由于这些文件有优先原创 2022-03-12 10:56:09 · 2695 阅读 · 0 评论 -
ROS移植机器人小车：问题集(2)
小问题比较多，根据自己编译的情况罗列，不一定是最佳解决办法。-------------------------------------------------------------------------CMake Error at /usr/share/cmake-3.16/Modules/FindQt4.cmake:1314 (message): Found unsuitable Qt version "5.12.8" from /usr/bin/qmake, this code re..原创 2022-03-08 23:04:17 · 4264 阅读 · 1 评论 -
ROS移植机器人小车：问题集
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "rosserial_python" with any of the following names: rosserial_pythonConfig.cmake rosserial_python-c...原创 2022-03-06 14:50:21 · 2426 阅读 · 0 评论 -
ROS移植机器人小车：catkin_make过程中碰到的各种小问题
接前面的贴子：＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝[ 1%] Building CXX object clbrobot_project/clb_pid/CMakeFiles/pid_listen.dir/src/clbrobot_pid_core.cpp.oIn file included from /home/ubuntu/noetic/catkin_ws/src/clbrobot_project/clb_pid/src/clbrobot_pid_core.cpp:1:.原创 2022-03-06 10:38:28 · 2394 阅读 · 1 评论 -
ROS ERROR: Could not find a package configuration file provided by “rosserial_python“
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "rosserial_python" with any of the following names: rosserial_pythonConfig.cmake rosserial_python-c...原创 2022-03-06 00:28:30 · 1233 阅读 · 0 评论 -
ROS ERROR: Could not find a package configuration file provided by “libuvc“
CMake Error at depth_camera/ros_astra_camera/CMakeLists.txt:8 (find_package): By not providing "Findlibuvc.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "libuvc", but CMake did not find one....原创 2022-03-06 00:24:49 · 2189 阅读 · 1 评论 -
Ubuntu Server 20.04.4 在树莓派上的体验之ROS-Noetic的安装
参考地址：How to Install ROS Noetic on Raspberry Pi 4 - VarHowtoHow to Install ROS Noetic on Ubuntu 20.04 - VarHowto前面讲到如何安装系统及配置网络，这里接着讲如何安装ROS noetic。在Server上安装桌面系统比较简单，这里我就不展开讲了。有点麻烦的是，我按照官网的方法没能安装成功，不知道是否是key的原因，还是因为官方只管x64系统而没有考虑arm64；然后找到这个链接，按上原创 2022-03-05 23:36:15 · 553 阅读 · 0 评论 -
ROS ERROR: Could NOT find depth_image_proc (missing: depth_image_proc_DIR)
报错内容如下，-- Could NOT find depth_image_proc (missing: depth_image_proc_DIR)-- Could not find the required component 'depth_image_proc'. The following CMake error indicates that you either need to install the package with the same name or change your envir原创 2022-03-04 23:59:07 · 758 阅读 · 0 评论 -
ROS Error: Found unsuitable Qt version ““ from NOTFOUND, this code requires Qt 4.x
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpyqmake: could not find a Qt installation of ''CMake Error at /usr/share/cmake-3.16/Modules/FindQt4.cmake:1314 (message): Found unsuitable Qt version "" from NOTFOUND, this code requ.原创 2022-03-04 22:18:40 · 1184 阅读 · 2 评论 -
Installing ROS on the Raspberry Pi
ROSberryPi - ROS Wikihttp://wiki.ros.org/ROSberryPiInstalling ROS Melodic on the Raspberry PiDescription:This instruction covers the installation of ROS Melodic on theRaspberry Piwith Raspbian Buster. However as final repositories are available now, t...转载 2022-03-01 15:12:30 · 275 阅读 · 0 评论 -
ROS ERROR: “Qt5::Gui“ references the file “/usr/lib/x86_64-linux-gnu/libEGL.so“ not exist
Ubuntu18.04 + ROS melodic 安装google-cartographer，Compiling Cartographer ROS — Cartographer ROS documentation出现下面的报错，$ catkin_make_isolated --install --use-ninja...CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfig.cmake:27 (messag原创 2022-02-27 15:56:56 · 2152 阅读 · 1 评论 -
ROS Error: [rospack] Error: package ‘map_server‘ not found
Ubuntu18.04 + ROS melodic$ rosrun map_server map_saver[rospack] Error: package 'map_server' not found解决办法：sudo apt install ros-melodic-map-server原创 2022-02-26 16:06:02 · 1667 阅读 · 0 评论 -
ROS Error: Could NOT find move_base_msgs
Ubuntu18.04 + ROS melodic, catkin编译mbot报错，-- +++ processing catkin package: 'mbot_navigation'-- ==> add_subdirectory(mbot_navigation)-- Could NOT find move_base_msgs (missing: move_base_msgs_DIR)-- Could not find the required component 'move_base_m原创 2022-02-26 15:23:08 · 1725 阅读 · 0 评论 -
ROS ERROR: cannot launch node of type [usb_cam/usb_cam_node]: usb_camROS path [0]=/opt/ros/m
Ubuntu18.04+ROS melodic, 运行 roslaunch robot_vision usb_cam.launch报错，ERROR: cannot launch node of type [usb_cam/usb_cam_node]: usb_camROS path [0]=/opt/ros/melodic/share/rosROS path [1]=/home/mc/ros/vision/srcROS path [2]=/opt/ros/melodic/share原创 2022-02-26 00:18:31 · 6014 阅读 · 4 评论 -
ROS fatal error: alsa/asoundlib.h: 没有那个文件或目录
Ubuntu18.04 + ROS melodic用catkin_make编译robot_voice，报错内容如下，Scanning dependencies of target iat_publish[ 12%] Building CXX object robot_voice/CMakeFiles/iat_publish.dir/src/iat_publish.cpp.o[ 25%] Building C object robot_voice/CMakeFiles/iat_publish.dir原创 2022-02-25 23:59:55 · 1446 阅读 · 0 评论 -
ROS error: cannot launch node of type [arbotix_python/arbotix_driver]: arbotix_python
Ubuntu18.04+ROS melodic运行xacro测试，ERROR: cannot launch node of type [arbotix_python/arbotix_driver]: arbotix_pythonROS path [0]=/opt/ros/melodic/share/rosROS path [1]=/home/mc/ros/mbot/srcROS path [2]=/opt/ros/melodic/share原因：ROS 默认是没有安装arbotix的，ar原创 2022-02-25 21:45:49 · 1629 阅读 · 1 评论 -
ROS error: Could not find the GUI, install the ‘joint_state_publisher_gui‘ package
ROS melodic运行urdf模型时碰到，[ WARN] [1645792286.082081404]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead[WARN] [1645792286.343040]: The 'use_gui' parameter was specified, which is deprecated. We'll attempt to fi.原创 2022-02-25 20:36:31 · 1293 阅读 · 0 评论 -
libcurl: (51) SSL: no alternative certificate subject name
运行gazebo报错: libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfue 解决办法：将~/.ignition/fuel/config.yaml中的https://api.ignitionfuel.org改为https://api.ignitionrobotics.org即可。...原创 2022-02-22 09:58:50 · 2893 阅读 · 1 评论 -
ROS noetic [turtle1_tf_broadcaster-4] process has died
运行下面的指令roslaunch turtle_tf turtle_tf_demo.launch报错：... logging to /home/mc/.ros/log/1d03f5da-9257-11ec-8b40-912958d5c310/roslaunch-ubun-29906.logChecking log directory for disk usage. This may take a while.Press Ctrl-C to interruptDone checking l原创 2022-02-20 22:25:49 · 2424 阅读 · 0 评论 -
ROS noetic view_frames TypeError: cannot use a string pattern on a bytes-like object
ROS noetic + Ubuntu20.04报错：mc@ubun:~$ rosrun tf view_framesListening to /tf for 5.0 secondsDone Listeningb'dot - graphviz version 2.43.0 (0)\n'Traceback (most recent call last): File "/opt/ros/noetic/lib/tf/view_frames", line 119, in <module>原创 2022-02-20 21:52:34 · 613 阅读 · 0 评论 -
ROS-Tutorials：rviz之Markers: Sending Basic Shapes (C++，附vscode调试说明)
官方的教程在这里：rviz/Tutorials/Markers: Basic Shapes - ROS Wikihttps://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes我自己在ubuntu20.04上运行时碰到了一些问题，所以记录一下，mkdir -p prj001/srccd prj002/srccatkin_create_pkg using_markers roscpp visualization_msgs这时候会生原创 2022-02-12 10:54:41 · 1011 阅读 · 0 评论 -
Ubuntu20.04+vscode快速调试ROS通用程序
(PlaceHolder.....)这里假设你已经安装好了ROS noetic和git。(1) 安装vscode和extensionsubuntu上如何安装vscode可以参考官网，Running Visual Studio Code on Linux需要安装的vscode扩展如下，C/C++ (c++ intellisense and configuration help) -> Mandatory Clangd (Alternative intellisense prov原创 2022-02-06 16:41:09 · 3370 阅读 · 1 评论 -
SLAM算法资料收集
一边看论文一边收集资料中。。。。想看论文的去这里找SLAM 论文阅读和分类整理_知行合一-优快云博客_slam 论文几个不错的博客VIO前端视觉惯性里程计的IMU预积分模型 - 知乎IMU预积分原理及代码实现 - 知乎VIO初始化相关Paper简单梳理 | 一索哥传奇...原创 2022-02-05 18:00:35 · 2061 阅读 · 0 评论 -
Windows 10上安装ROS noetic平台
根据ROS官网的指南，安装ROS noetic的过程我摘录在下面，注意：和官网不一样的地方我用中文特别说明了一下。ROS on Windows installationWindows Operating SystemROS for Windows requires 64-bit Windows 10 Desktop or Windows 10 IoT Enterprise. Please ensure that you have Powershell installed and in t.原创 2022-02-03 18:43:28 · 1379 阅读 · 0 评论 -
Ubuntu20.04＋gdb/vscode调试ROS(VINS-Mono)程序
如何使用GDB调试器来进行ROS C++项目的调试使用debug模式编译编译器有些优化会让debug无法进行。为了避免这种情况，程序编译时要加上debug选项，让cmake以debug模式编译，不然可能会在gdb调试的时候不能跳转到源代码，只能进入断点。如果用命令行catkin_make，在输入catkin_make时加上一个参数：catkin_make -DCMAKE_BUILD_TYPE=Debug 1或者直接修改CMakelist.txt，添加以下代码,SET(CMA...原创 2022-02-03 14:46:04 · 5347 阅读 · 0 评论 -
ROS报错：Roslaunch got a ‘No such file or directory‘ error while attempting to run xterm -e gdb --args
使用gdb调试VINS-mono的ROS节点时，碰到这么一个报错：process[feature_tracker-2]: started with pid [8459]RLException: Roslaunch got a 'No such file or directory' error while attempting to run:xterm -e gdb --args /home/matthew/projects/vinsmono/devel/lib/vins_estimator/vin原创 2022-02-03 12:44:32 · 3710 阅读 · 0 评论 -
ROS报错: Unable to communicate with master
原因是没有启动roscore，打开一个终端，输入roscore启动即可。原创 2022-02-02 22:45:41 · 4355 阅读 · 0 评论 -
VINS－MONO：integer_sequence_algorithm.h:64:21: error: ‘integer_sequence’ is not a member of ‘std’
在catkin编译vins-mono时碰到了下面的问题，In file included from /usr/local/include/ceres/internal/parameter_dims.h:37, from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130,原创 2022-02-02 14:46:01 · 1689 阅读 · 0 评论 -
SLAM算法r3live试运行
我的平台是ubuntu20.04，整个过程没有出现错误。（一）先安装ROS附加包，如下，sudo apt-get install ros-noetic-cv-bridge ros-noetic-tf ros-noetic-message-filters ros-noetic-image-transport ros-noetic-image-transport*（二）由于r3live需要livox的支持，因此先安装livox的驱动。git clone https://github.com/原创 2022-02-02 00:13:09 · 3458 阅读 · 1 评论 -
ROS报错：-- Could NOT find PY_em (missing: PY_EM)
Ubuntu20.04, ROS Noetic，根据ROS tutorial，ROS/Tutorials/InstallingandConfiguringROSEnvironment - ROS Wiki$ mkdir -p ~/catkin_ws/src$ cd ~/catkin_ws/$ catkin_make报错如下，matthew@UBUT:~/catkin_ws$ catkin_make...-- Using PYTHON_EXECUTABLE: /home/matth原创 2022-02-01 20:17:38 · 8116 阅读 · 11 评论 -
ROS安装时：找不到有效的OpenPGP数据
安装ROS-noetic，时，当输入命令时：curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -报错：gdp: 找不到有效的 openpgp 数据原因:是http://raw.githubusercontent.com是墙外地址，无法访问解决方法:弄个梯子，或者从另一个网址获取密钥，如下wget http://packages.ros.原创 2022-02-01 17:58:36 · 5499 阅读 · 6 评论 -
SLAM算法VINS-MONO安装运行介绍
说明：把资料放在这里，主要是因为github经常上不去，速度慢。如果网络申通的话大家还是去官网看资料比较方便，这个贴子本身没什么价值。所以这个贴子会持续更新。我用的系统是Ubuntu18.04。通常是ROS/ROS2都会装，而且搞算法的涉及面太广，免不了过一段时间就要重装系统。VINS MONO 运行介绍VINS mono的下载地址https://github.com/HKUST-Aerial-Robotics/VINS-Mono安装参考网址ROS Documentation原创 2021-12-13 12:20:14 · 2589 阅读 · 0 评论 -
Ceres-Solver安装与简介
下载地址http://ceres-solver.org/ceres-solver-2.0.0.tar.gz安装 Ubuntu18.04+Ceres-solverStart by installing all the dependencies.# CMakesudo apt-get install cmake# google-glog + gflagssudo apt-get install libgoogle-glog-dev libgflags-dev# BLAS & L原创 2021-12-12 22:55:23 · 4276 阅读 · 1 评论 -
Ubuntu18.04 安装 ros2 foxy
neophack 2021-10-08 17:44:16 146 收藏 1分类专栏： ubuntu 自动驾驶 文章标签： 自动驾驶 ubuntu版权ubuntu同时被 2 个专栏收录5 篇文章0 订阅订阅专栏自动驾驶3 篇文章0 订阅订阅专栏安装 colcon and vcssudo apt update && sudo apt install -y build-essentialsudo apt install -y git cmake python...原创 2021-12-12 14:37:59 · 1672 阅读 · 0 评论