ROS melodic android_apps移植

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已于 2024-11-06 08:13:25 修改 · 615 阅读

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#ROS #android_apps

于 2024-03-27 08:30:43 首次发布

文章描述了在使用ROSMelodic环境中的AndroidApp与world_canvas_server交互时遇到的问题，包括等待地图、连接MongoDB失败、保存地图错误，以及解决这些问题的过程，如安装MongoDB、更新仓库_ros版本和调整数据库连接方式。

环境

遇到问题

问题一 Waiting for maps ...

问题二 Attempting to connect to mongodb @ localhost:27017

问题三 Insert map failed

问题四保存同名地图错误

mongo

环境

Ubuntu 18.04 + ROS melodic

Windows 10 + Android Studio 2020.3.1 Patch 3

遇到问题

问题一 Waiting for maps ...

GitHub - rosjava/android_apps: Applications built on top of the rosjava android libraries.中map_manager、map_nav等APP一直提示wait map list。make_a_map保存地图提示No such service /save_map of type world_canvas_msgs/SaveMap。

通过tcpdump -i any -n -A发现Android App一直在查找/list_maps服务，ROS这边则一直返回-1 no provider错误。

安装mongodb-server，下载world_canvas_server源码，编译。

$ sudo apt-get install mongodb-server
$ cd catkin_ws/src
$ git clone https://github.com/corot/world_canvas.git
Cloning into 'world_canvas'...
remote: Enumerating objects: 946, done.
remote: Total 946 (delta 0), reused 0 (delta 0), pack-reused 946
Receiving objects: 100% (946/946), 597.61 KiB | 1.30 MiB/s, done.
Resolving deltas: 100% (605/605), done.
$ git clone https://github.com/corot/world_canvas_libs.git
Cloning into 'world_canvas_libs'...
remote: Enumerating objects: 642, done.
remote: Total 642 (delta 0), reused 0 (delta 0), pack-reused 642
Receiving objects: 100% (642/642), 103.60 KiB | 353.00 KiB/s, done.
Resolving deltas: 100% (354/354), done.
$ git clone https://github.com/corot/world_canvas_msgs.git
Cloning into 'world_canvas_msgs'...
remote: Enumerating objects: 161, done.
remote: Total 161 (delta 0), reused 0 (delta 0), pack-reused 161
Receiving objects: 100% (161/161), 19.92 KiB | 295.00 KiB/s, done.
Resolving deltas: 100% (89/89), done.
$ cd ..
$ catkin_make
$ source devel/setup.bash
$ roslaunch world_canvas_server world_canvas_server.launch
... logging to /home/freeware/.ros/log/0da06d8a-4b44-11ec-aba4-c85b76ac404e/roslaunch-Z0211122-21558.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://Z0211122:40661/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /world_canvas_server/auto_save_map: False
 * /world_canvas_server/start_map_manager: True

NODES
  /
    world_canvas_server (world_canvas_server/world_canvas_server)

auto-starting new master
process[master]: started with pid [21568]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0da06d8a-4b44-11ec-aba4-c85b76ac404e
process[rosout-1]: started with pid [21581]
started core service [/rosout]
process[world_canvas_server-2]: started with pid [21584]
Traceback (most recent call last):
  File "/data/ros/map/src/world_canvas/world_canvas_server/scripts/world_canvas_server", line 6, in <module>
    import world_canvas_server
  File "/data/ros/map/devel/lib/python2.7/dist-packages/world_canvas_server/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 1, in <module