Ros_begeinning

some problem in ros-learning

安装ROS时设置key

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
如果无法连接上述服务器，可以尝试hkp://pgp.mit.edu:80或者hkp://keyserver.ubuntu.coｍ

sudo apt-get update出现:由于没有公钥，无法验证下列签名：NO_PUBKEY F42ED6FBAB17C654

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654　对应输出的数字

rosdep init、upgate:

主要原因是网速和墙
1.建议换成手机热点
2.爪巴墙，
https://github.com/Qv2ray/Qv2ray
https://github.com/v2fly/v2ray-core/releases
搭建梯子出墙，一切就迎刃而解。
sudo chmod a+x Qv2ray.v2.6.3.linux-x64.AppImage

gazebo参数出错：

export SVGA VGPU10=0

gazebo360°旋转：

shift+旋转、鼠标左右中建各有功能

Contronller does not exit：

sudo apt-get install roscontronller

添加依赖不成功：

ROS packages for Kinetic
ROS packages for Noetic
可以看到noetic少了1000+的依赖包，只能自行下载package到/home/theyearling/catkin_ws/src

catkin_make出错：

hector_mappingConfig.cmake
hector_mapping-config.cmake

solve:

1.下载package到catkin_ws/src

git clone https://github.com/ros-perception/slam_gmapping.git
git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git

2.修改相应的package.xml

<build_depend>gmapping</build_depend>
<build_depend>hector_mapping</build_depend>

<run_depend>gmapping</run_depend>
<run_depend>hector_mapping</run_depend>

安装依赖：

rosdep install --from-paths src --ignore-src --rosdistro=noetic -y

flashfxp与Ubuntu16.04文件传递：

sudo apt-get install vsftpd //Ubuntu下载vsftpd

sudo gedit /etc/vsftpd.conf //修改配置文件
#local_enable=YES
#write_enable=YES //去掉#号

sudo /etc/init.d/vsftpd start //启动命令
sudo /etc/init.d/vsftpd stop //关闭命令

没有安装相应的ros控制软件包

Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist.
Could not load controller 'joint_position_controller' because controller type 'joint_position_controller/JointPositionController' does not exist.
Could not load controller 'joint_velocity_controller' because controller type 'joint_velocity_controller/JointVelocityController' does not exist.

solve:
sudo apt-get install ros-kinetic-joint-state-controller
sudo apt-get install ros-kinetic-position-controllers
sudo apt-get install ros-kinetic-velocity-controllers

advice:
sudo apt-get install ros-kinetic-effort-controllers
sudo apt-get install ros-kinetic-joint-trajectory-controller

GazeboRosControlPlugin missing <legacyModeNS> ：

urdf 描述文件中，对 gazebo 插件描述添加 true

运行Turtlebot时出现'TURTLEBOT_GAZEBO_WORLD_FILE' is not set

export TURTLEBOT_GAZEBO_WORLD_FILE=/opt/ros/kinetic/share/turtlebot_gazebo/worlds/playground.world

调节鼠标灵敏度

xinput --list //查看设备id
xinput --list-props id //查看对应id设备的相关参数
xinput --set-prop id 设备对应的参数标识 0.3 0 0 0 0.3 0 0 0 1 //默认参数为:1 0 0 0 1 0 0 0 1

Ubuntu外接显示器黑屏

xrandr //查看Ubuntu是否识别出外接显示器 软件与更新 中更换附加驱动为 NVIDIA驱动 貌似要挂梯子才能更换成功

huanyu小车外接显示器频闪（频繁黑屏）

更换显示器的分辨率（一般是降低）

ERROR: cannot launch node of type

一般是因为该节点没有执行权限
roscd package/nodes
chomd +x 对应的文件
添加执行权限即可

/etc/apt/sources.list

# deb cdrom:[Ubuntu 16.04.7 LTS _Xenial Xerus_ - Release amd64 (20200806)]/ xenial main restricted

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial main restricted

## Major bug fix updates produced after the final release of the
## distribution.
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates main restricted

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial universe
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates universe

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu 
## team, and may not be under a free licence. Please satisfy yourself as to 
## your rights to use the software. Also, please note that software in 
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-updates multiverse

## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ xenial-backports main restricted universe multiverse

## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
# deb http://archive.canonical.com/ubuntu xenial partner
# deb-src http://archive.canonical.com/ubuntu xenial partner

deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted
# deb-src http://security.ubuntu.com/ubuntu xenial-security main restricted
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security universe
# deb-src http://security.ubuntu.com/ubuntu xenial-security universe
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security multiverse
# deb-src http://security.ubuntu.com/ubuntu xenial-security multiverse

catkin_make -DCATKIN_WHITELIST_PACKAGES=包名

单独编译这个包，之后再使用catkin_make 会默认只编译这个包

catkin_make -DCATKIN_WHITELIST_PACKAGES=""

编译工作空间中的所有包，之后再使用catkin_make 会默认编译整个工作空间

C++编译提示expected class-name before '{' token

继承父类时出现该错误大概率是因为基类头文件中嵌套包含了自己

C++ 编译 invalid use of incomplete type

在父类中使用子类中的变量或函数时，需要先引入该子类

出现 terminate called after throwing an instance of ‘std::cad_alloc‘ what():std::bad_alloc

查询后说是数据量太大 导致内存爆掉？
我这里是因为vector下标越界

使用自定义路径规划插件时出现 Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML

在move_bace中调用createInstance创建规划器实例时出错
一般是因为自己编写的规划器代码有问题，一般是析构函数、构造函数

对‘tf::TransformListener::TransformListener(ros::Duration, bool)’未定义的引用

对‘costmap_2d::Costmap2DROS::Costmap2DROS 未定义的引用

在cmakelist文件中添加相应的包
find_package(catkin REQUIRED COMPONENTS
 tf
 costmap_2d
)

对‘ros::init(int&, char** ...’未定义的引用

在cmakelist文件中链接相应的库
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
)

Error:cannot launch node of type[test/test]:cannot locate node test in package test

保证具备一下几点
add_executable (test src/test.cpp)
add_dependencies (test ${catkin_EXPORTED_TARGETS})
target_link_libraries (test ${catkin_LIBRARIES})
并且需要将该文件赋予可执行权限

对于自己定义的同一个包中的源程序（.cpp）需要在cmakelist文件中被包含

对‘jps_planner::jpsPlanner::jpsPlanner()’未定义的引用

即
add_library(my_test
 src/my_test.cpp src/globalplanner
)