NTP_simulation,NTP开放源码 的模拟配置问题,官方描述不正确

使用ntp-dev-4.2.7p56开发包进行NTP模拟时遇到配置难题。官方文档提供的ntp.conf配置存在误导,通过检查关键字、理解源代码发现sever应为server,且配置文件中 不应被视为T_EOC。通过修改源代码中的old_config_style变量,启用;作为T_EOC类型,成功解决问题。

所用的ntp 开发包是 ntp-dev-4.2.7p56

一、问题描述

       NTP的模拟一直想用原汁原味的源代码来模拟,可惜一直卡在配置问题上,没有进展近两个星期。最终还是看代码修改了一条源代码的配置才搞定了,开源代码就是没有一个完善的文档,以及版本问题跟新系统。

        用的是ntp.conf是官方网站描述的配置释例:

# Client configuration 
    disable kernel
    server pogo
    driftfile ./ntp.drift
    statsdir ./ntpstats/
    filegen loopstats type day enable
    filegen peerstats type day enable

    # Simulation configuration
    simulate {
        simulation_duration = 86400
        beep_delay = 3600

        # Server 1
	server = louie.udel.edu {
	    server_offset = 0 
            duration = 50000 {
		freq_offset = 400
		wander = 1.0
		jitter = 0.001
		prop_delay = 0.001
		proc_delay = 0.001
	    }
            duration = 6400 {
		freq_offset = 200
		wander = 1.0
		jitter = 0.001
		prop_delay = 0.001
		proc_delay = 0.001
	    }
	}

        # Server 2
	server = baldwin.udel.edu {
	    server_offset = 0.02
	    duration = 10000 {
		freq_offset = 400
		wander = 1.0
		jitter = 0.001
		prop_delay = 0.5
		proc_delay = 0.001
	    }
	    duration = 60000 {
		freq_offset = 200
		wander = 1.0
		jitter = 0.05
		prop_delay = 0.005
		proc_delay = 0.001
	    }
	}
 }

存为/etc/ntp.conf,运行 ./ntpdsim后有如下提示:

                
szx@szx-ThinkPad-T14p-Gen-1:~/nav/ros_ws$ ros2 launch pb2025_nav_bringup rm_navigation_simulation_launch.py \ world:=rmuc_2025 \ slam:=False [INFO] [launch]: All log files can be found below /home/szx/.ros/log/2025-11-01-13-00-59-160057-szx-ThinkPad-T14p-Gen-1-30370 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ign_sim_pointcloud_tool_node-1]: process started with pid [30384] [INFO] [component_container_isolated-2]: process started with pid [30386] [INFO] [pointlio_mapping-3]: process started with pid [30388] [INFO] [terrainAnalysis-4]: process started with pid [30390] [INFO] [terrainAnalysisExt-5]: process started with pid [30392] [INFO] [joy_node-6]: process started with pid [30394] [INFO] [pb_teleop_twist_joy_node-7]: process started with pid [30396] [INFO] [rviz2-8]: process started with pid [30398] [pb_teleop_twist_joy_node-7] [INFO] [1761973260.243599627] [red_standard_robot1.pb_teleop_twist_joy_node]: Starting Teleop Twist Joy [ign_sim_pointcloud_tool_node-1] [INFO] [1761973260.249852010] [red_standard_robot1.ign_sim_pointcloud_tool]: Listening to lidar topic: livox/lidar [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251164444] [red_standard_robot1.pb_teleop_twist_joy_node]: Teleop enable button 4. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251204007] [red_standard_robot1.pb_teleop_twist_joy_node]: Turbo on button 5. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251212363] [red_standard_robot1.pb_teleop_twist_joy_node]: Teleop enable inverted reverse. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251219611] [red_standard_robot1.pb_teleop_twist_joy_node]: Linear axis x on 1 at scale 2.500000. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251228181] [red_standard_robot1.pb_teleop_twist_joy_node]: Turbo for linear axis x is scale 4.000000. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251235436] [red_standard_robot1.pb_teleop_twist_joy_node]: Linear axis y on 0 at scale 2.500000. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251242168] [red_standard_robot1.pb_teleop_twist_joy_node]: Turbo for linear axis y is scale 4.000000. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251249192] [red_standard_robot1.pb_teleop_twist_joy_node]: Linear axis yaw on 6 at scale 3.000000. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251256253] [red_standard_robot1.pb_teleop_twist_joy_node]: Turbo for linear axis yaw is scale 6.000000. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251263214] [red_standard_robot1.pb_teleop_twist_joy_node]: Angular axis pitch on 4 at scale -1.000000. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251270039] [red_standard_robot1.pb_teleop_twist_joy_node]: Turbo for angular axis pitch is scale -1.500000. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251279876] [red_standard_robot1.pb_teleop_twist_joy_node]: Angular axis shoot on 5 at scale 1.000000. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251287348] [red_standard_robot1.pb_teleop_twist_joy_node]: Turbo for angular axis shoot is scale 1.000000. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251293542] [red_standard_robot1.pb_teleop_twist_joy_node]: Angular axis yaw on 3 at scale 2.500000. [pb_teleop_twist_joy_node-7] [INFO] [1761973260.251298065] [red_standard_robot1.pb_teleop_twist_joy_node]: Turbo for angular axis yaw is scale 3.500000. [pointlio_mapping-3] /home/szx/nav/ros_ws/install/point_lio/lib/point_lio/pointlio_mapping: symbol lookup error: /usr/lib/x86_64-linux-gnu/libpcl_io.so.1.12: undefined symbol: libusb_set_option [ERROR] [pointlio_mapping-3]: process has died [pid 30388, exit code 127, cmd '/home/szx/nav/ros_ws/install/point_lio/lib/point_lio/pointlio_mapping --ros-args --log-level info --ros-args -r __node:=point_lio -r __ns:=/red_standard_robot1 --params-file /tmp/launch_params_6dam62iu --params-file /tmp/launch_params_cl44je6c -r /tf:=tf -r /tf_static:=tf_static']. [component_container_isolated-2] [INFO] [1761973260.367193575] [red_standard_robot1.nav2_container]: Load Library: /home/szx/nav/ros_ws/install/loam_interface/lib/libloam_interface.so [component_container_isolated-2] [INFO] [1761973260.371922551] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<loam_interface::LoamInterfaceNode> [component_container_isolated-2] [INFO] [1761973260.371963223] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<loam_interface::LoamInterfaceNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/loam_interface' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] [INFO] [1761973260.385097367] [red_standard_robot1.nav2_container]: Load Library: /home/szx/nav/ros_ws/install/sensor_scan_generation/lib/libsensor_scan_generation.so [component_container_isolated-2] [INFO] [1761973260.386360229] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<sensor_scan_generation::SensorScanGenerationNode> [component_container_isolated-2] [INFO] [1761973260.386379141] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<sensor_scan_generation::SensorScanGenerationNode> [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/sensor_scan_generation' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] [INFO] [1761973260.403045042] [red_standard_robot1.nav2_container]: Load Library: /home/szx/nav/ros_ws/install/fake_vel_transform/lib/libfake_vel_transform.so [component_container_isolated-2] [INFO] [1761973260.410220572] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<fake_vel_transform::FakeVelTransform> [component_container_isolated-2] [INFO] [1761973260.410347519] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<fake_vel_transform::FakeVelTransform> [component_container_isolated-2] [INFO] [1761973260.430190453] [red_standard_robot1.fake_vel_transform]: Start FakeVelTransform! [component_container_isolated-2] [INFO] [1761973260.442352769] [red_standard_robot1.nav2_container]: Load Library: /opt/ros/humble/lib/libmap_server_core.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/fake_vel_transform' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] [INFO] [1761973260.465286204] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> [component_container_isolated-2] [INFO] [1761973260.465320291] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> [component_container_isolated-2] [INFO] [1761973260.465323785] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> [component_container_isolated-2] [INFO] [1761973260.465326114] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> [component_container_isolated-2] [INFO] [1761973260.470799676] [red_standard_robot1.map_server]: [component_container_isolated-2] map_server lifecycle node launched. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/map_server' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] Waiting on external lifecycle transitions to activate [component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-2] [INFO] [1761973260.470861891] [red_standard_robot1.map_server]: Creating [component_container_isolated-2] [INFO] [1761973260.471296292] [red_standard_robot1.nav2_container]: Load Library: /opt/ros/humble/lib/libcontroller_server_core.so [component_container_isolated-2] [INFO] [1761973260.473120992] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> [component_container_isolated-2] [INFO] [1761973260.473172962] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> [component_container_isolated-2] [INFO] [1761973260.482649567] [red_standard_robot1.controller_server]: [component_container_isolated-2] controller_server lifecycle node launched. [component_container_isolated-2] Waiting on external lifecycle transitions to activate [component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-2] [INFO] [1761973260.497899839] [red_standard_robot1.controller_server]: Creating controller server [component_container_isolated-2] [INFO] [1761973260.517357087] [red_standard_robot1.local_costmap.local_costmap]: [component_container_isolated-2] local_costmap lifecycle node launched. [component_container_isolated-2] Waiting on external lifecycle transitions to activate [component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-2] [INFO] [1761973260.518178357] [red_standard_robot1.local_costmap.local_costmap]: Creating Costmap [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/controller_server' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] [INFO] [1761973260.521571121] [red_standard_robot1.nav2_container]: Load Library: /home/szx/nav/ros_ws/install/small_gicp_relocalization/lib/libsmall_gicp_relocalization.so [component_container_isolated-2] [ERROR] [1761973260.537368344] [red_standard_robot1.nav2_container]: Failed to load library: Could not load library dlopen error: /usr/lib/x86_64-linux-gnu/libpcl_io.so.1.12: undefined symbol: libusb_set_option, at ./src/shared_library.c:99 [component_container_isolated-2] [INFO] [1761973260.537823618] [red_standard_robot1.nav2_container]: Load Library: /opt/ros/humble/lib/libsmoother_server_core.so [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'small_gicp_relocalization' of type 'small_gicp_relocalization::SmallGicpRelocalizationNode' in container 'red_standard_robot1/nav2_container': Failed to load library: Could not load library dlopen error: /usr/lib/x86_64-linux-gnu/libpcl_io.so.1.12: undefined symbol: libusb_set_option, at ./src/shared_library.c:99 [component_container_isolated-2] [INFO] [1761973260.539295028] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> [component_container_isolated-2] [INFO] [1761973260.539318473] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> [component_container_isolated-2] [INFO] [1761973260.545637034] [red_standard_robot1.smoother_server]: [component_container_isolated-2] smoother_server lifecycle node launched. [component_container_isolated-2] Waiting on external lifecycle transitions to activate [component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-2] [INFO] [1761973260.548465187] [red_standard_robot1.smoother_server]: Creating smoother server [component_container_isolated-2] [INFO] [1761973260.549165457] [red_standard_robot1.nav2_container]: Load Library: /opt/ros/humble/lib/libnav2_lifecycle_manager_core.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/smoother_server' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] [INFO] [1761973260.549682457] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-2] [INFO] [1761973260.549700053] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-2] [INFO] [1761973260.555393575] [red_standard_robot1.lifecycle_manager_localization]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/lifecycle_manager_localization' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] [INFO] [1761973260.557712796] [red_standard_robot1.lifecycle_manager_localization]: Creating and initializing lifecycle service clients [component_container_isolated-2] [INFO] [1761973260.557817149] [red_standard_robot1.nav2_container]: Load Library: /opt/ros/humble/lib/libplanner_server_core.so [component_container_isolated-2] [INFO] [1761973260.558246337] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> [component_container_isolated-2] [INFO] [1761973260.558255668] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> [component_container_isolated-2] [INFO] [1761973260.558750327] [red_standard_robot1.lifecycle_manager_localization]: Starting managed nodes bringup... [component_container_isolated-2] [INFO] [1761973260.558903870] [red_standard_robot1.lifecycle_manager_localization]: Configuring map_server [component_container_isolated-2] [INFO] [1761973260.559040471] [red_standard_robot1.map_server]: Configuring [component_container_isolated-2] [INFO] [1761973260.559081570] [map_io]: Loading yaml file: /home/szx/nav/ros_ws/install/pb2025_nav_bringup/share/pb2025_nav_bringup/map/simulation/rmuc_2025.yaml [component_container_isolated-2] [INFO] [1761973260.559231165] [map_io]: resolution: 0.05 [component_container_isolated-2] [INFO] [1761973260.559235707] [map_io]: origin[0]: -3.58 [component_container_isolated-2] [INFO] [1761973260.559238272] [map_io]: origin[1]: -9.44 [component_container_isolated-2] [INFO] [1761973260.559240391] [map_io]: origin[2]: 0 [component_container_isolated-2] [INFO] [1761973260.559242622] [map_io]: free_thresh: 0.25 [component_container_isolated-2] [INFO] [1761973260.559244786] [map_io]: occupied_thresh: 0.65 [component_container_isolated-2] [INFO] [1761973260.559247193] [map_io]: mode: trinary [component_container_isolated-2] [INFO] [1761973260.559250066] [map_io]: negate: 0 [component_container_isolated-2] [INFO] [1761973260.559356106] [map_io]: Loading image_file: /home/szx/nav/ros_ws/install/pb2025_nav_bringup/share/pb2025_nav_bringup/map/simulation/rmuc_2025.pgm [component_container_isolated-2] [INFO] [1761973260.564213675] [red_standard_robot1.planner_server]: [component_container_isolated-2] planner_server lifecycle node launched. [component_container_isolated-2] Waiting on external lifecycle transitions to activate [component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-2] [INFO] [1761973260.565674364] [red_standard_robot1.planner_server]: Creating [component_container_isolated-2] [INFO] [1761973260.572445308] [map_io]: Read map /home/szx/nav/ros_ws/install/pb2025_nav_bringup/share/pb2025_nav_bringup/map/simulation/rmuc_2025.pgm: 583 X 324 map @ 0.05 m/cell [component_container_isolated-2] [INFO] [1761973260.576830589] [red_standard_robot1.lifecycle_manager_localization]: Activating map_server [component_container_isolated-2] [INFO] [1761973260.576924947] [red_standard_robot1.map_server]: Activating [component_container_isolated-2] [INFO] [1761973260.577130088] [red_standard_robot1.map_server]: Creating bond (map_server) to lifecycle manager. [component_container_isolated-2] [INFO] [1761973260.580210750] [red_standard_robot1.global_costmap.global_costmap]: [component_container_isolated-2] global_costmap lifecycle node launched. [component_container_isolated-2] Waiting on external lifecycle transitions to activate [component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-2] [INFO] [1761973260.581088715] [red_standard_robot1.global_costmap.global_costmap]: Creating Costmap [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/planner_server' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] [INFO] [1761973260.584827031] [red_standard_robot1.nav2_container]: Load Library: /opt/ros/humble/lib/libbehavior_server_core.so [component_container_isolated-2] [INFO] [1761973260.588339357] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> [component_container_isolated-2] [INFO] [1761973260.588415794] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> [rviz2-8] [INFO] [1761973260.589539113] [rviz2]: Stereo is NOT SUPPORTED [rviz2-8] [INFO] [1761973260.589600520] [rviz2]: OpenGl version: 3.3 (GLSL 3.3) [component_container_isolated-2] [INFO] [1761973260.594719493] [red_standard_robot1.behavior_server]: [component_container_isolated-2] behavior_server lifecycle node launched. [component_container_isolated-2] Waiting on external lifecycle transitions to activate [component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/behavior_server' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] [INFO] [1761973260.598831679] [red_standard_robot1.nav2_container]: Load Library: /opt/ros/humble/lib/libbt_navigator_core.so [component_container_isolated-2] [INFO] [1761973260.600091635] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> [component_container_isolated-2] [INFO] [1761973260.600126127] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> [rviz2-8] [INFO] [1761973260.609811446] [rviz2]: Stereo is NOT SUPPORTED [component_container_isolated-2] [INFO] [1761973260.610885680] [red_standard_robot1.bt_navigator]: [component_container_isolated-2] bt_navigator lifecycle node launched. [component_container_isolated-2] Waiting on external lifecycle transitions to activate [component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-2] [INFO] [1761973260.610926311] [red_standard_robot1.bt_navigator]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/bt_navigator' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] [INFO] [1761973260.612979054] [red_standard_robot1.nav2_container]: Load Library: /opt/ros/humble/lib/libwaypoint_follower_core.so [component_container_isolated-2] [INFO] [1761973260.613385605] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> [component_container_isolated-2] [INFO] [1761973260.613395129] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> [component_container_isolated-2] [INFO] [1761973260.619917440] [red_standard_robot1.waypoint_follower]: [component_container_isolated-2] waypoint_follower lifecycle node launched. [component_container_isolated-2] Waiting on external lifecycle transitions to activate [component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-2] [INFO] [1761973260.620693597] [red_standard_robot1.waypoint_follower]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/waypoint_follower' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] [INFO] [1761973260.623676269] [red_standard_robot1.nav2_container]: Load Library: /opt/ros/humble/lib/libvelocity_smoother_core.so [component_container_isolated-2] [INFO] [1761973260.624207807] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> [component_container_isolated-2] [INFO] [1761973260.624219959] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> [component_container_isolated-2] [INFO] [1761973260.630583995] [red_standard_robot1.velocity_smoother]: [component_container_isolated-2] velocity_smoother lifecycle node launched. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/velocity_smoother' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] Waiting on external lifecycle transitions to activate [component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-2] [INFO] [1761973260.632885107] [red_standard_robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-2] [INFO] [1761973260.632909044] [red_standard_robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-2] [INFO] [1761973260.646227595] [red_standard_robot1.lifecycle_manager_navigation]: Creating [component_container_isolated-2] [INFO] [1761973260.648026895] [red_standard_robot1.lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/red_standard_robot1/lifecycle_manager_navigation' in container 'red_standard_robot1/nav2_container' [component_container_isolated-2] [INFO] [1761973260.658530708] [red_standard_robot1.lifecycle_manager_navigation]: Starting managed nodes bringup... [component_container_isolated-2] [INFO] [1761973260.658571649] [red_standard_robot1.lifecycle_manager_navigation]: Configuring controller_server [component_container_isolated-2] [INFO] [1761973260.658683725] [red_standard_robot1.controller_server]: Configuring controller interface [component_container_isolated-2] [INFO] [1761973260.658931960] [red_standard_robot1.controller_server]: getting goal checker plugins.. [component_container_isolated-2] [INFO] [1761973260.659087691] [red_standard_robot1.controller_server]: Controller frequency set to 11.0000Hz [component_container_isolated-2] [INFO] [1761973260.659127253] [red_standard_robot1.local_costmap.local_costmap]: Configuring [component_container_isolated-2] [INFO] [1761973260.661352368] [red_standard_robot1.local_costmap.local_costmap]: Using plugin "static_layer" [component_container_isolated-2] [INFO] [1761973260.663843198] [red_standard_robot1.local_costmap.local_costmap]: Subscribing to the map topic (/red_standard_robot1/map) with transient local durability [component_container_isolated-2] [INFO] [1761973260.664440739] [red_standard_robot1.local_costmap.local_costmap]: Initialized plugin "static_layer" [component_container_isolated-2] [INFO] [1761973260.664457100] [red_standard_robot1.local_costmap.local_costmap]: Using plugin "intensity_voxel_layer" [component_container_isolated-2] [INFO] [1761973260.665538868] [red_standard_robot1.local_costmap.local_costmap]: Subscribed to Topics: terrain_map [component_container_isolated-2] [INFO] [1761973260.668221258] [red_standard_robot1.local_costmap.local_costmap]: Initialized plugin "intensity_voxel_layer" [component_container_isolated-2] [INFO] [1761973260.668256540] [red_standard_robot1.local_costmap.local_costmap]: Using plugin "inflation_layer" [component_container_isolated-2] [INFO] [1761973260.669349468] [red_standard_robot1.local_costmap.local_costmap]: Initialized plugin "inflation_layer" [component_container_isolated-2] [INFO] [1761973260.675865657] [red_standard_robot1.controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [component_container_isolated-2] [INFO] [1761973260.677244752] [red_standard_robot1.controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [component_container_isolated-2] [INFO] [1761973260.678155631] [red_standard_robot1.controller_server]: Controller Server has general_goal_checker goal checkers available. [component_container_isolated-2] [INFO] [1761973260.679934950] [red_standard_robot1.controller_server]: Created controller : FollowPath of type pb_omni_pid_pursuit_controller::OmniPidPursuitController [component_container_isolated-2] [INFO] [1761973260.680535909] [red_standard_robot1.lifecycle_manager_localization]: Server map_server connected with bond. [component_container_isolated-2] [INFO] [1761973260.680559065] [red_standard_robot1.lifecycle_manager_localization]: Managed nodes are active [component_container_isolated-2] [INFO] [1761973260.680568359] [red_standard_robot1.lifecycle_manager_localization]: Creating bond timer... [component_container_isolated-2] [INFO] [1761973260.685251914] [red_standard_robot1.controller_server]: Controller Server has FollowPath controllers available. [component_container_isolated-2] [INFO] [1761973260.694166167] [red_standard_robot1.lifecycle_manager_navigation]: Configuring smoother_server [component_container_isolated-2] [INFO] [1761973260.695327812] [red_standard_robot1.smoother_server]: Configuring smoother server [component_container_isolated-2] [INFO] [1761973260.715109109] [red_standard_robot1.smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother [component_container_isolated-2] [INFO] [1761973260.716464930] [red_standard_robot1.smoother_server]: Smoother Server has simple_smoother smoothers available. [component_container_isolated-2] [INFO] [1761973260.722425360] [red_standard_robot1.lifecycle_manager_navigation]: Configuring planner_server [component_container_isolated-2] [INFO] [1761973260.722633717] [red_standard_robot1.planner_server]: Configuring [component_container_isolated-2] [INFO] [1761973260.722773194] [red_standard_robot1.global_costmap.global_costmap]: Configuring [component_container_isolated-2] [INFO] [1761973260.730269856] [red_standard_robot1.global_costmap.global_costmap]: Using plugin "static_layer" [component_container_isolated-2] [INFO] [1761973260.731604793] [red_standard_robot1.global_costmap.global_costmap]: Subscribing to the map topic (/red_standard_robot1/map) with transient local durability [component_container_isolated-2] [INFO] [1761973260.732164275] [red_standard_robot1.global_costmap.global_costmap]: Initialized plugin "static_layer" [component_container_isolated-2] [INFO] [1761973260.732191263] [red_standard_robot1.global_costmap.global_costmap]: Using plugin "intensity_voxel_layer" [component_container_isolated-2] [INFO] [1761973260.733453314] [red_standard_robot1.global_costmap.global_costmap]: Subscribed to Topics: terrain_map_ext [component_container_isolated-2] [INFO] [1761973260.734647860] [red_standard_robot1.local_costmap.local_costmap]: StaticLayer: Resizing static layer to 583 X 324 at 0.050000 m/pix [component_container_isolated-2] [INFO] [1761973260.741970655] [red_standard_robot1.global_costmap.global_costmap]: Initialized plugin "intensity_voxel_layer" [component_container_isolated-2] [INFO] [1761973260.742013057] [red_standard_robot1.global_costmap.global_costmap]: Using plugin "inflation_layer" [component_container_isolated-2] [INFO] [1761973260.743587937] [red_standard_robot1.global_costmap.global_costmap]: Initialized plugin "inflation_layer" [component_container_isolated-2] [INFO] [1761973260.752544860] [red_standard_robot1.planner_server]: Created global planner plugin GridBased of type nav2_theta_star_planner/ThetaStarPlanner [component_container_isolated-2] [INFO] [1761973260.754164873] [red_standard_robot1.planner_server]: Planner Server has GridBased planners available. [component_container_isolated-2] [INFO] [1761973260.764649952] [red_standard_robot1.lifecycle_manager_navigation]: Configuring behavior_server [component_container_isolated-2] [INFO] [1761973260.764844983] [red_standard_robot1.behavior_server]: Configuring [component_container_isolated-2] [INFO] [1761973260.777810678] [red_standard_robot1.behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [component_container_isolated-2] [INFO] [1761973260.779244720] [red_standard_robot1.behavior_server]: Configuring spin [component_container_isolated-2] [INFO] [1761973260.794292136] [red_standard_robot1.behavior_server]: Creating behavior plugin backup of type pb_nav2_behaviors/BackUpFreeSpace [component_container_isolated-2] [INFO] [1761973260.795503773] [red_standard_robot1.behavior_server]: Configuring backup [component_container_isolated-2] [INFO] [1761973260.801980584] [red_standard_robot1.behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [component_container_isolated-2] [INFO] [1761973260.802080910] [red_standard_robot1.global_costmap.global_costmap]: StaticLayer: Resizing costmap to 583 X 324 at 0.050000 m/pix [component_container_isolated-2] [INFO] [1761973260.802619271] [red_standard_robot1.behavior_server]: Configuring drive_on_heading [component_container_isolated-2] [INFO] [1761973260.811798072] [red_standard_robot1.behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [component_container_isolated-2] [INFO] [1761973260.813089478] [red_standard_robot1.behavior_server]: Configuring assisted_teleop [component_container_isolated-2] [INFO] [1761973260.819589987] [red_standard_robot1.behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [component_container_isolated-2] [INFO] [1761973260.820363529] [red_standard_robot1.behavior_server]: Configuring wait [component_container_isolated-2] [INFO] [1761973260.824949308] [red_standard_robot1.lifecycle_manager_navigation]: Configuring bt_navigator [component_container_isolated-2] [INFO] [1761973260.825061529] [red_standard_robot1.bt_navigator]: Configuring [rviz2-8] [INFO] [1761973260.839140103] [rviz2]: Trying to create a map of size 583 x 324 using 1 swatches [rviz2-8] [ERROR] [1761973260.867996884] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result : [rviz2-8] active samplers with a different type refer to the same texture image unit [component_container_isolated-2] [INFO] [1761973260.884770577] [red_standard_robot1.lifecycle_manager_navigation]: Configuring waypoint_follower [component_container_isolated-2] [INFO] [1761973260.884895363] [red_standard_robot1.waypoint_follower]: Configuring [component_container_isolated-2] [INFO] [1761973260.897377955] [red_standard_robot1.waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [component_container_isolated-2] [INFO] [1761973260.898282256] [red_standard_robot1.lifecycle_manager_navigation]: Configuring velocity_smoother [component_container_isolated-2] [INFO] [1761973260.898431039] [red_standard_robot1.velocity_smoother]: Configuring velocity smoother [component_container_isolated-2] [INFO] [1761973260.900971316] [red_standard_robot1.lifecycle_manager_navigation]: Activating controller_server [component_container_isolated-2] [INFO] [1761973260.901227188] [red_standard_robot1.controller_server]: Activating [component_container_isolated-2] [INFO] [1761973260.901345330] [red_standard_robot1.local_costmap.local_costmap]: Activating [component_container_isolated-2] [INFO] [1761973260.901401914] [red_standard_robot1.local_costmap.local_costmap]: Checking transform [component_container_isolated-2] [INFO] [1761973260.901473493] [red_standard_robot1.local_costmap.local_costmap]: Timed out waiting for transform from gimbal_yaw_fake to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-2] [INFO] [1761973261.401553492] [red_standard_robot1.local_costmap.local_costmap]: Timed out waiting for transform from gimbal_yaw_fake to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-2] [INFO] [1761973261.901590600] [red_standard_robot1.local_costmap.local_costmap]: Timed out waiting for transform from gimbal_yaw_fake to odom to become available, tf error: Inval
最新发布
11-02
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