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error: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher

时间: 2023-05-31 18:20:54 浏览: 1753
### 回答1: 这个错误提示是因为在启动ROS节点时,找不到名为robot_state_publisher的节点。可能是因为没有安装或编译robot_state_publisher包,或者没有正确设置ROS_PACKAGE_PATH环境变量。需要检查一下这些问题,然后重新启动节点。 ### 回答2: 错误提示信息“error: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher”是一个ROS运行节点的错误提示。在ROS中,节点是一种独立的进程,它可以读写ROS中的话题、服务和参数。在启动节点时,需要在命令行中输入相应的命令,以启动对应的节点。 首先,该错误是由于系统找不到所需启动的节点。这可能是因为节点包没有正确安装,或者路径设置不正确。因此,下面讨论几种可能的解决方案: 1. 确认robot_state_publisher包已经正确安装:在终端中输入“dpkg -l | grep robot_state_publisher”,如果返回信息中包含robot_state_publisher,说明该包已安装。如果没有安装,则需要重新安装robot_state_publisher包。 2. 确认环境变量设置正确:一些ROS节点依赖于环境变量,例如ROS_PACKAGE_PATH等。 如果这些变量未正确设置,则会导致节点无法启动。 可以在~/.bashrc文件中设置环境变量,在终端中输入“source ~/.bashrc”启动即可。 3. 确认启动命令正确:在终端输入“roslaunch robot_state_publisher robot_state_publisher.launch”,如果包路径和启动命令正确,则应该能够正确启动节点。 总之,以上三种方法可能有助于解决“error: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher”错误。需要注意的是,如果出现其他错误,请及时查找相关资料或咨询相关专家。毕竟ROS是一个庞大、复杂的系统,需要不断学习和探索。 ### 回答3: 在ROS系统中,当我们运行一个包含ROS节点的程序时,有时会遇到类似于“error: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher”这样的错误信息。这类错误通常提示我们节点类型不匹配或节点程序没有正确安装。 针对这种情况,我们需要逐一排查错误的原因,以下是可能导致这种错误的几种情况: 1.节点程序未安装:首先我们检查该节点程序是否已被正确安装。如果未安装,我们需要使用命令行进行安装,“sudo apt-get install ros-<distro>-<package-name>”命令可用于安装ROS的包裹。 2.节点类型不匹配:该错误信息中指定了节点类型是[robot_state_publisher/robot_state_publisher],如果我们在运行节点程序时指定的节点类型与此不匹配,就会产生此错误。因此我们需要检查程序包中节点的类型是否与提示的类型一致。 3.程序包命名错误:ROS不允许程序包名称中存在下划线“_”,而是使用连字符“-”来代替。如果程序包路径中包含下划线,则ROS无法正确识别程序包,从而无法启动节点,因此需要修改程序包名称中的“_”。 4.缺失依赖包:在ROS系统中的每一个程序包都会有其依赖的程序包,如果缺失了依赖包,该程序包将无法运行。此时我们需要使用命令行来查看节点的依赖关系,“rospack depends <package-name>”命令可以用于查看程序包的依赖,如果缺少依赖包,则需要手动安装。 5.工作目录设置错误:在ROS系统中,我们需要设置工作目录(即ROS的工作空间),否则节点可能无法正常运行。在执行程序前,我们需要先激活ROS的工作目录,使用命令“source <path-to-workspace>/devel/setup.bash”来激活工作目录。 总之,在解决“error: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher”这样的错误时,我们需要查找错误的具体原因,逐一解决问题。
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EPRobot@EPRobot:~/robot_ws/src/eprobot_start/script/one_car_pkg$ roslaunch eprobot_start one_car_start.launch RLException: [one_car_start.launch] is neither a launch file in package [eprobot_start] nor is [eprobot_start] a launch file name The traceback for the exception was written to the log file EPRobot@EPRobot:~/robot_ws/src/eprobot_start/script/one_car_pkg$ roscd usd_cam roscd: No such package/stack 'usd_cam' EPRobot@EPRobot:~/robot_ws/src/eprobot_start/script/one_car_pkg$ source /opt/ros/melodic/setup.bash EPRobot@EPRobot:~/robot_ws/src/eprobot_start/script/one_car_pkg$ cd ~/robot_ws EPRobot@EPRobot:~/robot_ws$ source devel/setup.bash EPRobot@EPRobot:~/robot_ws$ roslaunch eprobot_start one_car_start.launch ... logging to /home/EPRobot/.ros/log/98e3a152-624a-11f0-a474-e45f0131f240/roslaunch-EPRobot-28515.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://EPRobot:33123/ SUMMARY ======== CLEAR PARAMETERS * /ekf_se/ PARAMETERS * /amcl/base_frame_id: base_footprint * /amcl/global_frame_id: map * /amcl/gui_publish_rate: 10.0 * /amcl/initial_pose_a: 0.0 * /amcl/initial_pose_x: 0.0 * /amcl/initial_pose_y: 0.0 * /amcl/kld_err: 0.05 * /amcl/kld_z: 0.99 * /amcl/laser_lambda_short: 0.1 * /amcl/laser_likelihood_max_dist: 5.0 * /amcl/laser_max_beams: 60 * /amcl/laser_max_range: 12.0 * /amcl/laser_model_type: likelihood_field * /amcl/laser_sigma_hit: 0.2 * /amcl/laser_z_hit: 0.7 * /amcl/laser_z_max: 0.1 * /amcl/laser_z_rand: 0.3 * /amcl/laser_z_short: 0.1 * /amcl/max_particles: 2000 * /amcl/min_particles: 600 * /amcl/odom_alpha1: 0.2 * /amcl/odom_alpha2: 0.2 * /amcl/odom_alpha3: 0.2 * /amcl/odom_alpha4: 0.2 * /amcl/odom_alpha5: 0.1 * /amcl/odom_frame_id: odom * /amcl/odom_model_type: diff * /amcl/recovery_alpha_fast: 0.2 * /amcl/recovery_alpha_slow: 0.005 * /amcl/resample_interval: 0.4 * /amcl/transform_tolerance: 0.5 * /amcl/update_min_a: 0.05 * /amcl/update_min_d: 0.05 * /amcl/use_map_topic: True * /base_control/base_kd: 0.0 * /base_control/base_ki: 100.0 * /base_control/base_kp: 1000.0 * /base_control/base_kv: 1.0 * /base_control/is_send_anger: false * /camera_uri: http://192.168.3.... * /ekf_se/base_link_frame: /base_footprint * /ekf_se/debug: False * /ekf_se/debug_out_file: /path/to/debug/fi... * /ekf_se/frequency: 30 * /ekf_se/imu0: /imu_data * /ekf_se/imu0_config: [False, False, Fa... * /ekf_se/imu0_differential: False * /ekf_se/imu0_nodelay: True * /ekf_se/imu0_pose_rejection_threshold: 0.8 * /ekf_se/imu0_queue_size: 8 * /ekf_se/imu0_relative: True * /ekf_se/imu0_remove_gravitational_acceleration: True * /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ekf_se/map_frame: /map * /ekf_se/odom0: /odom * /ekf_se/odom0_config: [False, False, Fa... * /ekf_se/odom0_differential: False * /ekf_se/odom0_nodelay: True * /ekf_se/odom0_queue_size: 5 * /ekf_se/odom0_relative: True * /ekf_se/odom_frame: /odom * /ekf_se/print_diagnostics: True * /ekf_se/process_noise_covariance: [0.01, 0, 0, 0, 0... * /ekf_se/publish_acceleration: True * /ekf_se/publish_tf: True * /ekf_se/sensor_timeout: 0.025 * /ekf_se/transform_time_offset: 0.0001 * /ekf_se/transform_timeout: 0.025 * /ekf_se/two_d_mode: True * /ekf_se/world_frame: /odom * /image_view/autosize: True * /laser_filter/scan_filter_chain: [{'type': 'laser_... * /lslidar_driver_node/angle_disable_max: 0 * /lslidar_driver_node/angle_disable_min: 0 * /lslidar_driver_node/compensation: False * /lslidar_driver_node/frame_id: base_laser_link * /lslidar_driver_node/high_reflection: False * /lslidar_driver_node/interface_selection: serial * /lslidar_driver_node/lidar_name: M10 * /lslidar_driver_node/max_range: 100.0 * /lslidar_driver_node/min_range: 0.1 * /lslidar_driver_node/pubPointCloud2: False * /lslidar_driver_node/pubScan: True * /lslidar_driver_node/scan_topic: scan * /lslidar_driver_node/serial_port: /dev/EPRobot_laser * /lslidar_driver_node/use_gps_ts: False * /map_server/frame_id: map * /move_base/TebLocalPlannerROS/acc_lim_theta: 0.3 * /move_base/TebLocalPlannerROS/acc_lim_x: 0.2 * /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: True * /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False * /move_base/TebLocalPlannerROS/costmap_converter_plugin: * /move_base/TebLocalPlannerROS/costmap_converter_rate: 5 * /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True * /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 1.0 * /move_base/TebLocalPlannerROS/dt_hysteresis: 0.1 * /move_base/TebLocalPlannerROS/dt_ref: 0.3 * /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.2 * /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: False * /move_base/TebLocalPlannerROS/enable_multithreading: True * /move_base/TebLocalPlannerROS/exact_arc_length: 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/move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 10.0 * /move_base/TebLocalPlannerROS/max_number_classes: 2 * /move_base/TebLocalPlannerROS/max_vel_theta: 1.0 * /move_base/TebLocalPlannerROS/max_vel_x: 0.6 * /move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.3 * /move_base/TebLocalPlannerROS/max_vel_y: 0.0 * /move_base/TebLocalPlannerROS/min_obstacle_dist: 0.55 * /move_base/TebLocalPlannerROS/min_turning_radius: 0.6 * /move_base/TebLocalPlannerROS/no_inner_iterations: 5 * /move_base/TebLocalPlannerROS/no_outer_iterations: 4 * /move_base/TebLocalPlannerROS/obstacle_association_cutoff_factor: 5.0 * /move_base/TebLocalPlannerROS/obstacle_association_force_inclusion_factor: 1.5 * /move_base/TebLocalPlannerROS/obstacle_cost_exponent: 5.5 * /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45 * /move_base/TebLocalPlannerROS/obstacle_keypoint_offset: 0.1 * /move_base/TebLocalPlannerROS/obstacle_poses_affected: 15 * /move_base/TebLocalPlannerROS/odom_topic: odom * /move_base/TebLocalPlannerROS/optimization_activate: True * /move_base/TebLocalPlannerROS/optimization_verbose: False * /move_base/TebLocalPlannerROS/oscillation_recovery: True * /move_base/TebLocalPlannerROS/penalty_epsilon: 0.08 * /move_base/TebLocalPlannerROS/roadmap_graph_area_length_scale: 1.0 * /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5 * /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15 * /move_base/TebLocalPlannerROS/selection_alternative_time_cost: False * /move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0 * /move_base/TebLocalPlannerROS/selection_obst_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/selection_viapoint_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/shrink_horizon_backup: True * /move_base/TebLocalPlannerROS/simple_exploration: False * /move_base/TebLocalPlannerROS/teb_autosize: True * /move_base/TebLocalPlannerROS/via_points_ordered: False * /move_base/TebLocalPlannerROS/visualize_hc_graph: False * /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 1 * /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1 * /move_base/TebLocalPlannerROS/weight_adapt_factor: 1.0 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 100 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 0.6 * /move_base/TebLocalPlannerROS/weight_inflation: 1.0 * /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 800 * /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 6.0 * /move_base/TebLocalPlannerROS/weight_max_vel_theta: 1 * /move_base/TebLocalPlannerROS/weight_max_vel_x: 2 * /move_base/TebLocalPlannerROS/weight_obstacle: 190 * /move_base/TebLocalPlannerROS/weight_optimaltime: 15 * /move_base/TebLocalPlannerROS/weight_shortest_path: 5.0 * /move_base/TebLocalPlannerROS/weight_viapoint: 10.0 * /move_base/TebLocalPlannerROS/wheelbase: 0.3 * /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.1 * /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.1 * /move_base/base_local_planner: teb_local_planner... * /move_base/clearing_rotation_allowed: False * /move_base/conservative_reset_dist: 0.2 * /move_base/controller_frequency: 5.0 * /move_base/controller_patience: 15.0 * /move_base/global_costmap/footprint: [[-0.18, -0.18], ... * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/global_costmap/inflation_layer/enabled: True * /move_base/global_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/global_costmap/inflation_radius: 0.4 * /move_base/global_costmap/laser_scan_sensor/clearing: True * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/global_costmap/laser_scan_sensor/marking: True * /move_base/global_costmap/laser_scan_sensor/topic: scan * /move_base/global_costmap/map_type: costmap * /move_base/global_costmap/observation_sources: laser_scan_sensor * /move_base/global_costmap/obstacle_layer/combination_method: 1 * /move_base/global_costmap/obstacle_layer/enabled: True * /move_base/global_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/global_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/global_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/global_costmap/obstacle_layer/track_unknown_space: False * /move_base/global_costmap/plugins: [{'type': 'costma... * /move_base/global_costmap/publish_frequency: 5.0 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/static_layer/enabled: True * /move_base/global_costmap/static_layer/map_topic: /map * /move_base/global_costmap/static_map: True * /move_base/global_costmap/transform_tolerance: 0.5 * /move_base/global_costmap/update_frequency: 5.0 * /move_base/local_costmap/cost_scaling_factor: 10 * /move_base/local_costmap/footprint: [[-0.18, -0.18], ... * /move_base/local_costmap/global_frame: map * /move_base/local_costmap/height: 3 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/local_costmap/inflation_layer/enabled: True * /move_base/local_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/local_costmap/inflation_radius: 0.16 * /move_base/local_costmap/laser_scan_sensor/clearing: True * /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/local_costmap/laser_scan_sensor/marking: True * /move_base/local_costmap/laser_scan_sensor/topic: scan * /move_base/local_costmap/map_type: costmap * /move_base/local_costmap/observation_sources: laser_scan_sensor * /move_base/local_costmap/obstacle_layer/combination_method: 1 * /move_base/local_costmap/obstacle_layer/enabled: True * /move_base/local_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/local_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/local_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/local_costmap/obstacle_layer/track_unknown_space: False * /move_base/local_costmap/plugins: [{'type': 'costma... * /move_base/local_costmap/publish_frequency: 5.0 * /move_base/local_costmap/resolution: 0.05 * /move_base/local_costmap/robot_base_frame: base_footprint * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/static_layer/enabled: True * /move_base/local_costmap/static_layer/map_topic: /map * /move_base/local_costmap/static_map: False * /move_base/local_costmap/transform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 5.0 * /move_base/local_costmap/width: 3 * /move_base/oscillation_distance: 0.2 * /move_base/oscillation_timeout: 10.0 * /move_base/planner_frequency: 1.0 * /move_base/planner_patience: 5.0 * /robot_description: <?xml version="1.... * /rosdistro: melodic * /rosversion: 1.14.13 * /time0: 5.0 * /time1: 15.0 * /time2: 2.0 * /time3: 10.0 * /time4: 2.0 * /time5: 5.0 * /usb_cam/camera_frame_id: usb_cam * /usb_cam/color_format: yuv422p * /usb_cam/image_height: 960 * /usb_cam/image_width: 1280 * /usb_cam/io_method: mmap * /usb_cam/pixel_format: yuyv * /usb_cam/video_device: /dev/video0 NODES / amcl (amcl/amcl) base_control (eprobot_start/art_racecar.py) base_to_camera (tf/static_transform_publisher) base_to_gyro (tf/static_transform_publisher) base_to_laser (tf/static_transform_publisher) base_to_link (tf/static_transform_publisher) ekf_se (robot_localization/ekf_localization_node) image_view (image_view/image_view) joint_state_publisher (joint_state_publisher/joint_state_publisher) laser_filter (laser_filters/scan_to_scan_filter_chain) lslidar_driver_node (lslidar_driver/lslidar_driver_node) map_server (map_server/map_server) move_base (move_base/move_base) one_car_start (eprobot_start/one_car_start.py) robot_state_publisher (robot_state_publisher/robot_state_publisher) usb_cam (usb_cam/usb_cam_node) auto-starting new master process[master]: started with pid [28540] ROS_MASTER_URI=http://EPRobot:11311 setting /run_id to 98e3a152-624a-11f0-a474-e45f0131f240 process[rosout-1]: started with pid [28569] started core service [/rosout] process[usb_cam-2]: started with pid [28577] [ INFO] [1752673306.541706342]: using default calibration URL [ INFO] [1752673306.544599750]: camera calibration URL: file:///home/EPRobot/.ros/camera_info/head_camera.yaml [ INFO] [1752673306.548678571]: Starting 'head_camera' (/dev/video0) at 1280x960 via mmap (yuyv) at 30 FPS [ WARN] [1752673306.947265581]: unknown control 'focus_auto' process[image_view-3]: started with pid [28591] [ INFO] [1752673307.509032663]: Initializing nodelet with 4 worker threads. [ INFO] [1752673307.861474363]: Using transport "raw" Unable to init server: Could not connect: Connection refused (image_raw:28591): Gtk-WARNING **: 21:41:47.890: cannot open display: process[base_to_link-4]: started with pid [28612] [image_view-3] process has died [pid 28591, exit code -7, cmd /opt/ros/melodic/lib/image_view/image_view image:=/usb_cam/image_raw __name:=image_view __log:=/home/EPRobot/.ros/log/98e3a152-624a-11f0-a474-e45f0131f240/image_view-3.log]. log file: /home/EPRobot/.ros/log/98e3a152-624a-11f0-a474-e45f0131f240/image_view-3*.log process[base_to_gyro-5]: started with pid [28629] process[base_to_laser-6]: started with pid [28635] process[base_to_camera-7]: started with pid [28657] process[joint_state_publisher-8]: started with pid [28680] process[robot_state_publisher-9]: started with pid [28686] /opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal if resource_name in files: process[base_control-10]: started with pid [28694] ERROR: cannot launch node of type [lslidar_driver/lslidar_driver_node]: Cannot locate node of type [lslidar_driver_node] in package [lslidar_driver]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [laser_filters/scan_to_scan_filter_chain]: Cannot locate node of type [scan_to_scan_filter_chain] in package [laser_filters]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [map_server/map_server]: Cannot locate node of type [map_server] in package [map_server]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [amcl/amcl]: Cannot locate node of type [amcl] in package [amcl]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [move_base/move_base]: Cannot locate node of type [move_base] in package [move_base]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [robot_localization/ekf_localization_node]: Cannot locate node of type [ekf_localization_node] in package [robot_localization]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [eprobot_start/one_car_start.py]: Cannot locate node of type [one_car_start.py] in package [eprobot_start]. Make sure file exists in package path and permission is set to executable (chmod +x) [INFO] [1752673319.775691]: base control start... [INFO] [1752673319.816039]: LaserMode : Express [INFO] [1752673319.819294]: is_pub_odom_tf : false [INFO] [1752673319.822670]: is_send_anger : false [INFO] [1752673319.827339]: Opening Serial [INFO] [1752673319.831187]: Serial Open Succeed

vae@vae-ASUS-TUF-Gaming-A15-FA507UU-FA507UU:~$ roslaunch "/home/vae/catkin_ws/src/Primitive-Planner/src/planner/plan_manage/launch/swarm.launch" ... logging to /home/vae/.ros/log/f34d8a2e-6054-11f0-9921-77d90da18a94/roslaunch-vae-ASUS-TUF-Gaming-A15-FA507UU-FA507UU-14057.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://vae-ASUS-TUF-Gaming-A15-FA507UU-FA507UU:35697/ SUMMARY ======== PARAMETERS * /drone_0_bridge_node/broadcast_ip: 127.0.0.255 * /drone_0_bridge_node/drone_id: 0 * /drone_0_bridge_node/odom_max_freq: 70 * /drone_0_odom_visualization/color/a: 1.0 * /drone_0_odom_visualization/color/b: 0.0 * /drone_0_odom_visualization/color/g: 0.0 * /drone_0_odom_visualization/color/r: 0.0 * /drone_0_odom_visualization/covariance_scale: 100.0 * /drone_0_odom_visualization/drone_id: 0 * /drone_0_odom_visualization/robot_scale: 0.24 * /drone_0_odom_visualization/tf45: False * /drone_0_pcl_render_node/cam_cx: 321.04638671875 * /drone_0_pcl_render_node/cam_cy: 243.44969177246094 * /drone_0_pcl_render_node/cam_fx: 387.229248046875 * /drone_0_pcl_render_node/cam_fy: 387.229248046875 * /drone_0_pcl_render_node/cam_height: 480 * /drone_0_pcl_render_node/cam_width: 640 * /drone_0_pcl_render_node/estimation_rate: 30.0 * /drone_0_pcl_render_node/map/x_size: 24.0 * /drone_0_pcl_render_node/map/y_size: 24.0 * /drone_0_pcl_render_node/map/z_size: 3.0 * /drone_0_pcl_render_node/sensing_horizon: 5.0 * /drone_0_pcl_render_node/sensing_rate: 10.0 * /drone_0_poscmd_2_odom/init_x: 2.0 * /drone_0_poscmd_2_odom/init_y: 0.0 * /drone_0_poscmd_2_odom/init_z: 0.5 * /drone_0_primitive_planner_node/fsm/fail_safe: True * /drone_0_primitive_planner_node/fsm/flight_type: 2 * /drone_0_primitive_planner_node/fsm/no_replan_thresh: 0.5 * /drone_0_primitive_planner_node/fsm/realworld_experiment: True * /drone_0_primitive_planner_node/fsm/thresh_replan_time: 0.2 * /drone_0_primitive_planner_node/fsm/waypoint0_x: -2.0 * /drone_0_primitive_planner_node/fsm/waypoint0_y: -0.0 * /drone_0_primitive_planner_node/fsm/waypoint0_z: 0.5 * /drone_0_primitive_planner_node/fsm/waypoint1_x: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint1_y: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint1_z: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint2_x: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint2_y: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint2_z: 0.0 * /drone_0_primitive_planner_node/fsm/waypoint_num: 1 * /drone_0_primitive_planner_node/manager/arc_length: 3.0 * /drone_0_primitive_planner_node/manager/boxX: 6.0 * /drone_0_primitive_planner_node/manager/boxY: 6.0 * /drone_0_primitive_planner_node/manager/boxZ: 6.0 * /drone_0_primitive_planner_node/manager/depthCloudStackNum: 1 * /drone_0_primitive_planner_node/manager/drone_id: 0 * /drone_0_primitive_planner_node/manager/lamda_b: 50.0 * /drone_0_primitive_planner_node/manager/lamda_l: 200.0 * /drone_0_primitive_planner_node/manager/map_size_x: 24.0 * /drone_0_primitive_planner_node/manager/map_size_y: 24.0 * /drone_0_primitive_planner_node/manager/map_size_z: 3.0 * /drone_0_primitive_planner_node/manager/max_vel: 1.0 * /drone_0_primitive_planner_node/manager/primitiveFolder: /home/vae/catkin_... * /drone_0_primitive_planner_node/manager/sampleSize: 10000 * /drone_0_primitive_planner_node/manager/swarm_clearence: 0.24 * /drone_0_primitive_planner_node/manager/voxelSize: 0.1 * /drone_0_traj_server/init_x: 2.0 * /drone_0_traj_server/init_y: 0.0 * /drone_0_traj_server/init_z: 0.5 * /drone_0_traj_server/traj_server/max_vel: 1.0 * /drone_0_traj_server/traj_server/primitiveFolder: /home/vae/catkin_... * /drone_0_traj_server/traj_server/time_delay_idx: 0 * /drone_0_traj_server/traj_server/time_forward: 1.0 * /drone_1_odom_visualization/color/a: 1.0 * /drone_1_odom_visualization/color/b: 0.0 * /drone_1_odom_visualization/color/g: 0.0 * /drone_1_odom_visualization/color/r: 0.0 * /drone_1_odom_visualization/covariance_scale: 100.0 * /drone_1_odom_visualization/drone_id: 1 * /drone_1_odom_visualization/robot_scale: 0.24 * /drone_1_odom_visualization/tf45: False * /drone_1_pcl_render_node/cam_cx: 321.04638671875 * /drone_1_pcl_render_node/cam_cy: 243.44969177246094 * /drone_1_pcl_render_node/cam_fx: 387.229248046875 * /drone_1_pcl_render_node/cam_fy: 387.229248046875 * /drone_1_pcl_render_node/cam_height: 480 * /drone_1_pcl_render_node/cam_width: 640 * /drone_1_pcl_render_node/estimation_rate: 30.0 * /drone_1_pcl_render_node/map/x_size: 24.0 * /drone_1_pcl_render_node/map/y_size: 24.0 * /drone_1_pcl_render_node/map/z_size: 3.0 * /drone_1_pcl_render_node/sensing_horizon: 5.0 * /drone_1_pcl_render_node/sensing_rate: 10.0 * /drone_1_poscmd_2_odom/init_x: -0.9999999999999996 * /drone_1_poscmd_2_odom/init_y: 1.7320508075688774 * /drone_1_poscmd_2_odom/init_z: 0.5 * /drone_1_primitive_planner_node/fsm/fail_safe: True * /drone_1_primitive_planner_node/fsm/flight_type: 2 * /drone_1_primitive_planner_node/fsm/no_replan_thresh: 0.5 * /drone_1_primitive_planner_node/fsm/realworld_experiment: True * /drone_1_primitive_planner_node/fsm/thresh_replan_time: 0.2 * /drone_1_primitive_planner_node/fsm/waypoint0_x: 0.9999999999999996 * /drone_1_primitive_planner_node/fsm/waypoint0_y: -1.7320508075688774 * /drone_1_primitive_planner_node/fsm/waypoint0_z: 0.5 * /drone_1_primitive_planner_node/fsm/waypoint1_x: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint1_y: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint1_z: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint2_x: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint2_y: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint2_z: 0.0 * /drone_1_primitive_planner_node/fsm/waypoint_num: 1 * /drone_1_primitive_planner_node/manager/arc_length: 3.0 * /drone_1_primitive_planner_node/manager/boxX: 6.0 * /drone_1_primitive_planner_node/manager/boxY: 6.0 * /drone_1_primitive_planner_node/manager/boxZ: 6.0 * /drone_1_primitive_planner_node/manager/depthCloudStackNum: 1 * /drone_1_primitive_planner_node/manager/drone_id: 1 * /drone_1_primitive_planner_node/manager/lamda_b: 50.0 * /drone_1_primitive_planner_node/manager/lamda_l: 200.0 * /drone_1_primitive_planner_node/manager/map_size_x: 24.0 * /drone_1_primitive_planner_node/manager/map_size_y: 24.0 * /drone_1_primitive_planner_node/manager/map_size_z: 3.0 * /drone_1_primitive_planner_node/manager/max_vel: 1.0 * /drone_1_primitive_planner_node/manager/primitiveFolder: /home/vae/catkin_... * /drone_1_primitive_planner_node/manager/sampleSize: 10000 * /drone_1_primitive_planner_node/manager/swarm_clearence: 0.24 * /drone_1_primitive_planner_node/manager/voxelSize: 0.1 * /drone_1_traj_server/init_x: -0.9999999999999996 * /drone_1_traj_server/init_y: 1.7320508075688774 * /drone_1_traj_server/init_z: 0.5 * /drone_1_traj_server/traj_server/max_vel: 1.0 * /drone_1_traj_server/traj_server/primitiveFolder: /home/vae/catkin_... * /drone_1_traj_server/traj_server/time_delay_idx: 0 * /drone_1_traj_server/traj_server/time_forward: 1.0 * /drone_2_odom_visualization/color/a: 1.0 * /drone_2_odom_visualization/color/b: 0.0 * /drone_2_odom_visualization/color/g: 0.0 * /drone_2_odom_visualization/color/r: 0.0 * /drone_2_odom_visualization/covariance_scale: 100.0 * /drone_2_odom_visualization/drone_id: 2 * /drone_2_odom_visualization/robot_scale: 0.24 * /drone_2_odom_visualization/tf45: False * /drone_2_pcl_render_node/cam_cx: 321.04638671875 * /drone_2_pcl_render_node/cam_cy: 243.44969177246094 * /drone_2_pcl_render_node/cam_fx: 387.229248046875 * /drone_2_pcl_render_node/cam_fy: 387.229248046875 * /drone_2_pcl_render_node/cam_height: 480 * /drone_2_pcl_render_node/cam_width: 640 * /drone_2_pcl_render_node/estimation_rate: 30.0 * /drone_2_pcl_render_node/map/x_size: 24.0 * /drone_2_pcl_render_node/map/y_size: 24.0 * /drone_2_pcl_render_node/map/z_size: 3.0 * /drone_2_pcl_render_node/sensing_horizon: 5.0 * /drone_2_pcl_render_node/sensing_rate: 10.0 * /drone_2_poscmd_2_odom/init_x: -1.0000000000000009 * /drone_2_poscmd_2_odom/init_y: -1.7320508075688767 * /drone_2_poscmd_2_odom/init_z: 0.5 * /drone_2_primitive_planner_node/fsm/fail_safe: True * /drone_2_primitive_planner_node/fsm/flight_type: 2 * /drone_2_primitive_planner_node/fsm/no_replan_thresh: 0.5 * /drone_2_primitive_planner_node/fsm/realworld_experiment: True * /drone_2_primitive_planner_node/fsm/thresh_replan_time: 0.2 * /drone_2_primitive_planner_node/fsm/waypoint0_x: 1.0000000000000009 * /drone_2_primitive_planner_node/fsm/waypoint0_y: 1.7320508075688767 * /drone_2_primitive_planner_node/fsm/waypoint0_z: 0.5 * /drone_2_primitive_planner_node/fsm/waypoint1_x: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint1_y: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint1_z: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint2_x: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint2_y: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint2_z: 0.0 * /drone_2_primitive_planner_node/fsm/waypoint_num: 1 * /drone_2_primitive_planner_node/manager/arc_length: 3.0 * /drone_2_primitive_planner_node/manager/boxX: 6.0 * /drone_2_primitive_planner_node/manager/boxY: 6.0 * /drone_2_primitive_planner_node/manager/boxZ: 6.0 * /drone_2_primitive_planner_node/manager/depthCloudStackNum: 1 * /drone_2_primitive_planner_node/manager/drone_id: 2 * /drone_2_primitive_planner_node/manager/lamda_b: 50.0 * /drone_2_primitive_planner_node/manager/lamda_l: 200.0 * /drone_2_primitive_planner_node/manager/map_size_x: 24.0 * /drone_2_primitive_planner_node/manager/map_size_y: 24.0 * /drone_2_primitive_planner_node/manager/map_size_z: 3.0 * /drone_2_primitive_planner_node/manager/max_vel: 1.0 * /drone_2_primitive_planner_node/manager/primitiveFolder: /home/vae/catkin_... * /drone_2_primitive_planner_node/manager/sampleSize: 10000 * /drone_2_primitive_planner_node/manager/swarm_clearence: 0.24 * /drone_2_primitive_planner_node/manager/voxelSize: 0.1 * /drone_2_traj_server/init_x: -1.0000000000000009 * /drone_2_traj_server/init_y: -1.7320508075688767 * /drone_2_traj_server/init_z: 0.5 * /drone_2_traj_server/traj_server/max_vel: 1.0 * /drone_2_traj_server/traj_server/primitiveFolder: /home/vae/catkin_... * /drone_2_traj_server/traj_server/time_delay_idx: 0 * /drone_2_traj_server/traj_server/time_forward: 1.0 * /random_forest/ObstacleShape/lower_hei: 0.0 * /random_forest/ObstacleShape/lower_rad: 0.2 * /random_forest/ObstacleShape/radius_h: 0.5 * /random_forest/ObstacleShape/radius_l: 0.7 * /random_forest/ObstacleShape/theta: 0.5 * /random_forest/ObstacleShape/upper_hei: 3.0 * /random_forest/ObstacleShape/upper_rad: 0.5 * /random_forest/ObstacleShape/z_h: 0.8 * /random_forest/ObstacleShape/z_l: 0.7 * /random_forest/map/circle_num: 12.5 * /random_forest/map/obs_num: 12.5 * /random_forest/map/resolution: 0.1 * /random_forest/map/x_size: 5.0 * /random_forest/map/y_size: 5.0 * /random_forest/map/z_size: 3.0 * /random_forest/min_distance: 0.8 * /random_forest/pub_rate: 1.0 * /rosdistro: noetic * /rosversion: 1.17.4 NODES / drone_0_bridge_node (swarm_bridge/bridge_node_udp) drone_0_odom_visualization (odom_visualization/odom_visualization) drone_0_pcl_render_node (local_sensing_node/pcl_render_node) drone_0_poscmd_2_odom (poscmd_2_odom/poscmd_2_odom) drone_0_primitive_planner_node (primitive_planner/primitive_planner_node) drone_0_traj_server (primitive_planner/traj_server) drone_1_odom_visualization (odom_visualization/odom_visualization) drone_1_pcl_render_node (local_sensing_node/pcl_render_node) drone_1_poscmd_2_odom (poscmd_2_odom/poscmd_2_odom) drone_1_primitive_planner_node (primitive_planner/primitive_planner_node) drone_1_traj_server (primitive_planner/traj_server) drone_2_odom_visualization (odom_visualization/odom_visualization) drone_2_pcl_render_node (local_sensing_node/pcl_render_node) drone_2_poscmd_2_odom (poscmd_2_odom/poscmd_2_odom) drone_2_primitive_planner_node (primitive_planner/primitive_planner_node) drone_2_traj_server (primitive_planner/traj_server) random_forest (map_generator/random_forest) rviz (rviz/rviz) ROS_MASTER_URI=http://localhost:11311 process[drone_0_bridge_node-1]: started with pid [14086] process[random_forest-2]: started with pid [14087] process[rviz-3]: started with pid [14088] process[drone_0_primitive_planner_node-4]: started with pid [14094] process[drone_0_traj_server-5]: started with pid [14096] process[drone_0_poscmd_2_odom-6]: started with pid [14097] process[drone_0_odom_visualization-7]: started with pid [14098] process[drone_0_pcl_render_node-8]: started with pid [14113] process[drone_1_primitive_planner_node-9]: started with pid [14121] process[drone_1_traj_server-10]: started with pid [14128] [ERROR] [1752476374.317548293]: Illegal pathID=-1 process[drone_1_poscmd_2_odom-11]: started with pid [14129] process[drone_1_odom_visualization-12]: started with pid [14131] process[drone_1_pcl_render_node-13]: started with pid [14143] process[drone_2_primitive_planner_node-14]: started with pid [14153] process[drone_2_traj_server-15]: started with pid [14161] process[drone_2_poscmd_2_odom-16]: started with pid [14162] process[drone_2_odom_visualization-17]: started with pid [14165] process[drone_2_pcl_render_node-18]: started with pid [14173] [ERROR] [1752476374.359905192]: Illegal pathID=-1 [rosmsg_tcp_bridge] start running [ERROR] [1752476374.407247289]: Illegal pathID=-1 [drone_0_primitive_planner_node-4] process has finished cleanly log file: /home/vae/.ros/log/f34d8a2e-6054-11f0-9921-77d90da18a94/drone_0_primitive_planner_node-4*.log [drone_1_primitive_planner_node-9] process has finished cleanly log file: /home/vae/.ros/log/f34d8a2e-6054-11f0-9921-77d90da18a94/drone_1_primitive_planner_node-9*.log [drone_2_primitive_planner_node-14] process has finished cleanly log file: /home/vae/.ros/log/f34d8a2e-6054-11f0-9921-77d90da18a94/drone_2_primitive_planner_node-14*.log [WARN] [1752476374.809354901]: Finished generate random map [WARN] [1752476374.819079956]: Global Pointcloud received.. [WARN] [1752476374.820344840]: Global Pointcloud received.. [WARN] [1752476374.822302265]: Global Pointcloud received.. [INFO] [1752476375.315344140]: [Traj server]: ready. [INFO] [1752476375.347589117]: [Traj server]: ready. [INFO] [1752476375.403154149]: [Traj server]: ready. 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EIA-CEA 861B标准是美国电子工业联盟(Electronic Industries Alliance, EIA)和消费电子协会(Consumer Electronics Association, CEA)联合制定的一个技术规范,该规范详细规定了视频显示设备和系统之间的通信协议,特别是关于视频显示设备的时间信息(timing)和扩展显示识别数据(Extended Display Identification Data,简称EDID)的结构与内容。 在视频显示技术领域,确保不同品牌、不同型号的显示设备之间能够正确交换信息是至关重要的,而这正是EIA-CEA 861B标准所解决的问题。它为制造商提供了一个统一的标准,以便设备能够互相识别和兼容。该标准对于确保设备能够正确配置分辨率、刷新率等参数至关重要。 ### 知识点详解 #### EIA-CEA 861B标准的历史和重要性 EIA-CEA 861B标准是随着数字视频接口(Digital Visual Interface,DVI)和后来的高带宽数字内容保护(High-bandwidth Digital Content Protection,HDCP)等技术的发展而出现的。该标准之所以重要,是因为它定义了电视、显示器和其他显示设备之间如何交互时间参数和显示能力信息。这有助于避免兼容性问题,并确保消费者能有较好的体验。 #### Timing信息 Timing信息指的是关于视频信号时序的信息,包括分辨率、水平频率、垂直频率、像素时钟频率等。这些参数决定了视频信号的同步性和刷新率。正确配置这些参数对于视频播放的稳定性和清晰度至关重要。EIA-CEA 861B标准规定了多种推荐的视频模式(如VESA标准模式)和特定的时序信息格式,使得设备制造商可以参照这些标准来设计产品。 #### EDID EDID是显示设备向计算机或其他视频源发送的数据结构,包含了关于显示设备能力的信息,如制造商、型号、支持的分辨率列表、支持的视频格式、屏幕尺寸等。这种信息交流机制允许视频源设备能够“了解”连接的显示设备,并自动设置最佳的输出分辨率和刷新率,实现即插即用(plug and play)功能。 EDID的结构包含了一系列的块(block),其中定义了包括基本显示参数、色彩特性、名称和序列号等在内的信息。该标准确保了这些信息能以一种标准的方式被传输和解释,从而简化了显示设置的过程。 #### EIA-CEA 861B标准的应用 EIA-CEA 861B标准不仅适用于DVI接口,还适用于HDMI(High-Definition Multimedia Interface)和DisplayPort等数字视频接口。这些接口技术都必须遵循EDID的通信协议,以保证设备间正确交换信息。由于标准的广泛采用,它已经成为现代视频信号传输和显示设备设计的基础。 #### EIA-CEA 861B标准的更新 随着技术的进步,EIA-CEA 861B标准也在不断地更新和修订。例如,随着4K分辨率和更高刷新率的显示技术的发展,该标准已经扩展以包括支持这些新技术的时序和EDID信息。任何显示设备制造商在设计新产品时,都必须考虑最新的EIA-CEA 861B标准,以确保兼容性。 #### 结论 EIA-CEA 861B标准是电子显示领域的一个重要规范,它详细定义了视频显示设备在通信时所使用的信号时序和设备信息的格式。该标准的存在,使得不同厂商生产的显示设备可以无缝连接和集成,极大地增强了用户体验。对于IT专业人士而言,了解和遵守EIA-CEA 861B标准是进行视频系统设计、故障诊断及设备兼容性测试的重要基础。