implement "slam_karto" package in Stage simulation
slam_karto
ROS Wiki: http://wiki.ros.org/slam_karto
Source: https://github.com/ros-perception/slam_karto
Reliance: open_karto - https://github.com/ros-perception/open_karto
fetch_gazebo - https://github.com/fetchrobotics/fetch_gazebo
pr2_navigation - https://github.com/pr2/pr2_navigation
Implementing karto_stage.launch:
1. Error: ResourceNotFound: karto
Use crtl+shift+F to find all "karto" packages, and replace it as slam_karto.
Eg:
For all $(find karto), we should modify them to $(find slam_karto).
2. ERROR: cannot launch node of type [stage/stageros]: can't locate node [stageros] in package [stage]
Use crtl+shift+F to find all "stage" packages, and replace it as stage_ros which is pre-installed in ROS.
3. CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by "move_base" with
any of the following names:
move_baseConfig.cmake
move_base-config.cmake
move_base-config.cmake
the required ROS Navigation packages:
sudo apt-get install ros-indigo-move-base ros-indigo-map-server
ros-indigo-amcl ros-indigo-gmapping
ros-indigo-openni2-launch ros-indigo-openni2-camera
ros-indigo-dwa-local-planner
4. err: Model type laser not found in model typetable (/tmp/binarydeb/ros-indigo-stage-4.1.1/libstage/world.cc CreateModel)
err: Unknown model type laser in world file. (/tmp/binarydeb/ros-indigo-stage-4.1.1/libstage/world.cc CreateModel)
ANSWER: http://answers.ros.org/question/33973/stage-error-in-fuerte/
An easy solution: $ perl -p -i -e 's/laser/ranger/g' $(find . -name *.world) $(find . -name *.inc)
Tip:
Use comment <!-- & --> to disable some lines to position the error source.
in willow-pr2-5cm.world
looks like you also have to wrap your laser in a "sensor" block...
define topurg ranger
(
range_max 30.0
fov 270.25
samples 1081
# generic model properties
color "black"
size [ 0.05 0.05 0.1 ]
)
Has now become:
define topurg ranger
(
sensor(
range_max 30.0
fov 270.25
samples 1081
)
# generic model properties
color "black"
size [ 0.05 0.05 0.1 ]
)
5. rviz Robot Model Status Error ---- no robot model imported
Because there is no robot model imported. For now, just ignore it.
6. run slam in stage and rviz
$ roslaunch slam_karto karto_stage.launch
use Nav_goal in rviz to navigate the robot
NOTE: This post is outdated since the maintainer has merged what I have modified below. Simply sync the latest version of the package and everything would be OK.
implement "slam_karto" package in Stage simulation的更多相关文章
- implement "slam_karto" package on a Freight robot
1. login ssh fetch@<robot ip or robot name> 2. set robot master modify .bashrc in robot's com ...
- ROS_Kinetic_x 目前已更新的常用機器人資料 rosbridge agvs pioneer_teleop nao TurtleBot
Running Rosbridge Description: This tutorial shows you how to launch a rosbridge server and talk to ...
- 生产者-消费者问题【Java实现】
生产者-消费者问题是经典的并发问题, 非常适合并发入门的编程练习. 生产者-消费者问题是指, 有若干个生产者和若干个消费者并发地读写一个或多个共享存储空间:生产者创建对象并放入到共享存储空间,消费 ...
- strange error encountered today in ROS
I reinstalled my ubuntu system and also ROS. I tested slam_karto package when some strange error cam ...
- SON-RPC for Java
JSON-RPC for Java https://github.com/briandilley/jsonrpc4j#json-rpc-for-java This project aims to pr ...
- oracle 之数据字典屣履造门。
oracle 之数据字典屣履造门.(更新中) 今天是2013-06-20,哎,写这篇笔记的时候,我发现我是一个非常懒惰的人,这篇文章本该昨天就完成的,想起了钱鹤滩的<明日歌> ...
- 使用Java编写的B*算法
package rpg.stage.path; import java.util.ArrayList; import java.util.HashSet; import java.util.Itera ...
- Advanced Pricing - How to source Pricing Attributes using QP_CUSTOM_SOURCE.Get_Custom_Attribute_Valu
详细内容需要参考文档:Oracle 11i Advanced Pricing-Don't Customize, Extend! utl:http://blog.csdn.net/cai_xingyun ...
- TurtleBot教程
TurtleBot TurtleBot combines popular off-the-shelf robot components like the iRobot Create, Yujin Ro ...
随机推荐
- :not(selector)
描述: 用于筛选的选择器 查找所有未选中的 input 元素 HTML 代码: <input name="apple" /> <input name=" ...
- 关于学习keynote
下午在学习如何用keynote写出高大上的文档,看到公司内的一个妹纸洋洋洒洒的写了好多篇文章,顿时觉得自己的知识面狭窄,文科女和理科女的差别,从我嘴里半天吐不出一个富有诗情画意的词句来,那么还是脚踏实 ...
- WKWebView新特性及JS交互
引言 一直听说WKWebView比UIWebView强大许多,可是一直没有使用到,今天花了点时间看写了个例子,对其API的使用有所了解,为了日后能少走弯路,也为了让大家更容易学习上手,这里写下这篇文章 ...
- 快速搭建Redis缓存数据库
之前一篇随笔——Redis安装及主从配置已经详细的介绍过Redis的安装于配置.本文要讲的是如何在已经安装过Redis的机器上快速的创建出一个新的Redis缓存数据库. 一.环境介绍 1) Linux ...
- fork和exec一起使用
先预览一下工程的目录树: 实现的功能:master进程启动slave进程. 看看Makefile内容: all: master.out slave.out master.out: master.cpp ...
- JavaEE基础(二十)/IO流
1.IO流(IO流概述及其分类) 1.概念 IO流用来处理设备之间的数据传输 Java对数据的操作是通过流的方式 Java用于操作流的类都在IO包中 流按流向分为两种:输入流,输出流. 流按操作类型分 ...
- 完整学习git二 git 暂存区
1 git log 命令查看提交日志信息 git log --pretty-fuller #详细查看 git log --stat #查看每次提交的文件变更 git log --pretty-onli ...
- Linux下启动Oracle
切换到oracle用户 su - oracle 启动监听 lsnrctl start 确认是不是想要启动的oracle实例 echo $ORACLE_SID 如果不是,切换SID ora ...
- 20150608_Andriod 发布方法
参考地址: http://www.jb51.net/article/42618.htm 第一步,在Eclipse中选择需要打包的项目,然后右键--选择Export,会弹出一个打包的提示框,如下图所示. ...
- Codeforces Round #336 Zuma
D. Zuma time limit per test: 2 seconds memory limit per test: 512 megabytes input: standard input ...