ubuntu运行ego_planner问题

Question

在ubuntu20.04系统上运行ego_planner算法时，总是等待7次后报错
[FSM]: state: WAIT_TARGET
wait for goal or trigger.
Vins-fusion以及环境都已经部署完成，是不是有什么地方没设置，或者什么问题导致的呢？求佬解答

roslaunch ego_planner single_run_in_exp.launch 
... logging to /home/fastpx4/.ros/log/34ca6214-f716-11ee-b28b-df39fb9a9c74/roslaunch-fastpx4-10908.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://192.168.3.90:39137/

SUMMARY
========

PARAMETERS
 * /drone_0_ego_planner_node/bspline/limit_acc: 6.0
 * /drone_0_ego_planner_node/bspline/limit_ratio: 1.1
 * /drone_0_ego_planner_node/bspline/limit_vel: 0.5
 * /drone_0_ego_planner_node/fsm/emergency_time: 1.0
 * /drone_0_ego_planner_node/fsm/fail_safe: True
 * /drone_0_ego_planner_node/fsm/flight_type: 1
 * /drone_0_ego_planner_node/fsm/planning_horizen_time: 3.0
 * /drone_0_ego_planner_node/fsm/planning_horizon: 6.0
 * /drone_0_ego_planner_node/fsm/realworld_experiment: True
 * /drone_0_ego_planner_node/fsm/thresh_no_replan_meter: 1.0
 * /drone_0_ego_planner_node/fsm/thresh_replan_time: 1.0
 * /drone_0_ego_planner_node/fsm/waypoint0_x: 15.0
 * /drone_0_ego_planner_node/fsm/waypoint0_y: 0.0
 * /drone_0_ego_planner_node/fsm/waypoint0_z: 1.0
 * /drone_0_ego_planner_node/fsm/waypoint1_x: 0.0
 * /drone_0_ego_planner_node/fsm/waypoint1_y: 0.0
 * /drone_0_ego_planner_node/fsm/waypoint1_z: 1.0
 * /drone_0_ego_planner_node/fsm/waypoint2_x: 15.0
 * /drone_0_ego_planner_node/fsm/waypoint2_y: 0.0
 * /drone_0_ego_planner_node/fsm/waypoint2_z: 1.0
 * /drone_0_ego_planner_node/fsm/waypoint3_x: 0.0
 * /drone_0_ego_planner_node/fsm/waypoint3_y: 0.0
 * /drone_0_ego_planner_node/fsm/waypoint3_z: 1.0
 * /drone_0_ego_planner_node/fsm/waypoint4_x: 15.0
 * /drone_0_ego_planner_node/fsm/waypoint4_y: 0.0
 * /drone_0_ego_planner_node/fsm/waypoint4_z: 1.0
 * /drone_0_ego_planner_node/fsm/waypoint_num: 1
 * /drone_0_ego_planner_node/grid_map/cx: 654.2191772460938
 * /drone_0_ego_planner_node/grid_map/cy: 359.2149658203125
 * /drone_0_ego_planner_node/grid_map/depth_filter_margin: 2
 * /drone_0_ego_planner_node/grid_map/depth_filter_maxdist: 5.0
 * /drone_0_ego_planner_node/grid_map/depth_filter_mindist: 0.2
 * /drone_0_ego_planner_node/grid_map/depth_filter_tolerance: 0.15
 * /drone_0_ego_planner_node/grid_map/frame_id: world
 * /drone_0_ego_planner_node/grid_map/fx: 799.2300415039062
 * /drone_0_ego_planner_node/grid_map/fy: 799.2300415039062
 * /drone_0_ego_planner_node/grid_map/ground_height: -0.01
 * /drone_0_ego_planner_node/grid_map/k_depth_scaling_factor: 1000.0
 * /drone_0_ego_planner_node/grid_map/local_map_margin: 10
 * /drone_0_ego_planner_node/grid_map/local_update_range_x: 5.5
 * /drone_0_ego_planner_node/grid_map/local_update_range_y: 5.5
 * /drone_0_ego_planner_node/grid_map/local_update_range_z: 4.5
 * /drone_0_ego_planner_node/grid_map/map_size_x: 20
 * /drone_0_ego_planner_node/grid_map/map_size_y: 20
 * /drone_0_ego_planner_node/grid_map/map_size_z: 3.0
 * /drone_0_ego_planner_node/grid_map/max_ray_length: 5.0
 * /drone_0_ego_planner_node/grid_map/min_ray_length: 0.3
 * /drone_0_ego_planner_node/grid_map/obstacles_inflation: 0.2
 * /drone_0_ego_planner_node/grid_map/p_hit: 0.65
 * /drone_0_ego_planner_node/grid_map/p_max: 0.9
 * /drone_0_ego_planner_node/grid_map/p_min: 0.12
 * /drone_0_ego_planner_node/grid_map/p_miss: 0.35
 * /drone_0_ego_planner_node/grid_map/p_occ: 0.8
 * /drone_0_ego_planner_node/grid_map/pose_type: 2
 * /drone_0_ego_planner_node/grid_map/resolution: 0.1
 * /drone_0_ego_planner_node/grid_map/show_occ_time: False
 * /drone_0_ego_planner_node/grid_map/skip_pixel: 2
 * /drone_0_ego_planner_node/grid_map/use_depth_filter: True
 * /drone_0_ego_planner_node/grid_map/visualization_truncate_height: 1.8
 * /drone_0_ego_planner_node/manager/control_points_distance: 0.4
 * /drone_0_ego_planner_node/manager/drone_id: 0
 * /drone_0_ego_planner_node/manager/feasibility_tolerance: 0.05
 * /drone_0_ego_planner_node/manager/max_acc: 6.0
 * /drone_0_ego_planner_node/manager/max_jerk: 4.0
 * /drone_0_ego_planner_node/manager/max_vel: 0.5
 * /drone_0_ego_planner_node/manager/planning_horizon: 6.0
 * /drone_0_ego_planner_node/manager/use_distinctive_trajs: False
 * /drone_0_ego_planner_node/optimization/dist0: 0.5
 * /drone_0_ego_planner_node/optimization/lambda_collision: 0.5
 * /drone_0_ego_planner_node/optimization/lambda_feasibility: 0.1
 * /drone_0_ego_planner_node/optimization/lambda_fitness: 1.0
 * /drone_0_ego_planner_node/optimization/lambda_smooth: 1.0
 * /drone_0_ego_planner_node/optimization/max_acc: 6.0
 * /drone_0_ego_planner_node/optimization/max_vel: 0.5
 * /drone_0_ego_planner_node/optimization/swarm_clearance: 0.5
 * /drone_0_ego_planner_node/prediction/lambda: 1.0
 * /drone_0_ego_planner_node/prediction/obj_num: 10
 * /drone_0_ego_planner_node/prediction/predict_rate: 1.0
 * /drone_0_traj_server/traj_server/time_forward: 1.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    drone_0_ego_planner_node (ego_planner/ego_planner_node)
    drone_0_traj_server (ego_planner/traj_server)

ROS_MASTER_URI=http://192.168.3.90:11311

process[drone_0_ego_planner_node-1]: started with pid [10934]
process[drone_0_traj_server-2]: started with pid [10935]
hit: 0.619039
miss: -0.619039
min log: -1.99243
max: 2.19722
thresh log: 1.38629
[FSM]: from INIT to WAIT_TARGET
[ WARN] [1712738732.652992070]: [Traj server]: ready.
[FSM]: state: WAIT_TARGET
wait for goal or trigger.
[FSM]: state: WAIT_TARGET
wait for goal or trigger.
[FSM]: state: WAIT_TARGET
wait for goal or trigger.
[FSM]: state: WAIT_TARGET
wait for goal or trigger.
[FSM]: state: WAIT_TARGET
wait for goal or trigger.
[FSM]: state: WAIT_TARGET
wait for goal or trigger.
[FSM]: state: WAIT_TARGET
wait for goal or trigger.
[drone_0_ego_planner_node-1] process has died [pid 10934, exit code -11, cmd /home/fastpx4/abc/Fast-Drone-250-master/Fast-Drone-250/devel/lib/ego_planner/ego_planner_node ~odom_world:=/vins_fusion/imu_propagate ~planning/bspline:=/drone_0_planning/bspline ~planning/data_display:=/drone_0_planning/data_display ~planning/broadcast_bspline_from_planner:=/broadcast_bspline ~planning/broadcast_bspline_to_planner:=/broadcast_bspline ~grid_map/odom:=/vins_fusion/imu_propagate ~grid_map/cloud:=nouse2 ~grid_map/pose:=nouse1 ~grid_map/depth:=/stereo_inertial_publisher/stereo/image __name:=drone_0_ego_planner_node __log:=/home/fastpx4/.ros/log/34ca6214-f716-11ee-b28b-df39fb9a9c74/drone_0_ego_planner_node-1.log].
log file: /home/fastpx4/.ros/log/34ca6214-f716-11ee-b28b-df39fb9a9c74/drone_0_ego_planner_node-1*.log
^C[drone_0_traj_server-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

log文件中的报错：

[rosmaster.threadpool][ERROR] 2024-04-10 16:45:15,989: Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/noetic/lib/python3/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1109, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1450, in __request
    response = self.__transport.request(
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1153, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1165, in single_request
    http_conn = self.send_request(host, handler, request_body, verbose)
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1278, in send_request
    self.send_content(connection, request_body)
  File "/usr/lib/python3.8/xmlrpc/client.py", line 1308, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python3.8/http/client.py", line 1251, in endheaders
    self._send_output(message_body, encode_chunked=encode_chunked)
  File "/usr/lib/python3.8/http/client.py", line 1011, in _send_output
    self.send(msg)
  File "/usr/lib/python3.8/http/client.py", line 951, in send
    self.connect()
  File "/usr/lib/python3.8/http/client.py", line 922, in connect
    self.sock = self._create_connection(
  File "/usr/lib/python3.8/socket.py", line 808, in create_connection
    raise err
  File "/usr/lib/python3.8/socket.py", line 796, in create_connection
    sock.connect(sa)
ConnectionRefusedError: [Errno 111] Connection refused

process[drone_0_ego_planner_node-1]: args[['/home/fastpx4/abc/Fast-Drone-250-master/Fast-Drone-250/devel/lib/ego_planner/ego_planner_node', '~odom_world:=/vins_fusion/imu_propagate', '~planning/bspline:=/drone_0_planning/bspline', '~planning/data_display:=/drone_0_planning/data_display', '~planning/broadcast_bspline_from_planner:=/broadcast_bspline', '~planning/broadcast_bspline_to_planner:=/broadcast_bspline', '~grid_map/odom:=/vins_fusion/imu_propagate', '~grid_map/cloud:=nouse2', '~grid_map/pose:=nouse1', '~grid_map/depth:=/stereo_inertial_publisher/stereo/image', '__name:=drone_0_ego_planner_node']]

Answer 1

该回答引用自GPT-3.5,由博主GISer Liu编写：

根据您提供的信息，ego_planner算法在Ubuntu
20.04系统上运行时出现了问题，具体表现为等待7次后报错。报错信息显示状态为"等待目标或触发器"，但没有得到目标或触发器。下面我将逐步分析可能的原因，并提供解决方案。

问题分析与解决方案：

1. 检查配置参数是否正确 ：

• 首先，检查您的配置参数是否正确。根据您提供的参数列表，例如目标点的设置(waypoint0_x, waypoint0_y, waypoint0_z等)，确保它们被正确设置，且与您期望的一致。

1. 检查Vins-fusion和环境设置 ：

• 确保Vins-fusion和环境设置正确，并且已经正确部署。如果Vins-fusion或环境设置有误，可能会导致ego_planner无法获取所需的信息。

1. 检查算法逻辑 ：

• 根据报错信息中提到的状态，"等待目标或触发器"，检查ego_planner算法中的状态机逻辑。确保状态机在等待目标或触发器时能够正确处理，并及时跳转到下一个状态。

1. 检查数据源是否正常 ：

• 确保数据源（可能是传感器数据、输入命令等）正常运行，并且能够提供ego_planner所需的输入信息。如果数据源出现异常，可能会导致ego_planner无法获取到足够的信息而无法继续执行。

1. 查看日志文件 ：

• 您提供了日志文件路径，可以查看详细的日志信息，以便更好地定位问题所在。特别注意日志中是否有其他异常信息出现，这些信息可能有助于排除问题。

1. 调试代码 ：

• 如果以上步骤无法解决问题，可以尝试在代码中添加调试信息，以便更详细地了解程序运行时的状态和问题所在。根据具体情况，可能需要逐步执行并检查各个模块的输出，以确定问题出现的具体位置。

1. 搜索相关资料 ：

• 如果以上方法仍无法解决问题，可以搜索相关资料或在社区寻求帮助。有时其他人遇到过类似的问题，并提供了解决方案或指导意见。
  根据以上分析，您可以逐步排查问题，并根据具体情况采取相应的解决方案。希望以上建议能帮助您解决问题。如果您需要进一步的帮助，请随时提问。

如果该回答解决了您的问题，请采纳！如果没有，请私信联系或评论您的疑惑