turtlebot|兩個錯誤修改日誌
阿新 • • 發佈:2018-11-21
1.errror:[ERROR] [1388762076.282169241]: Skipping XML Document "/opt/ros/indigo/share/gmapping/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing.
解決:"/opt/ros/indigo/share/gmapping/nodelet_plugins.xml" which had no Root Element.
以前包的bug現在新版本已經修復了,該提示一般不會影響其他節點使用。如果需要修復,可以找到相對應xml檔案,複製到該目錄即可。
這裡給出一份xml檔案:
nodelet_plugins.xml
cd /opt/ros/indigo/share/gmapping
sudo gedit nodelet_plugins.xml
<library path="lib/libslam_gmapping_nodelet">
<class name="SlamGMappingNodelet" type="SlamGMappingNodelet" base_class_type="nodelet::Nodelet">
<description>
Nodelet ROS wrapper for OpenSlam's Gmapping.
</ description>
</class>
</library>
改完之後,又出現以下錯誤…
You must specify at least three points for the robot footprint,reverting to previous footprint
roscd turtlebot_navigation cd param sudo gedit costmap_common_params.yaml
做如下更改
#robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
footprint: [[0.1, 0.1], [-0.1, 0.1], [-0.1, -0.1], [0.1, -0.1] ] # if the robot is not circular
[更改日期
]:2018-10-28,下午三點半