ROS与vins学习

ros官网学习：http://wiki.ros.org/cn/ROS/Tutorials/CreatingPackage

ros中 .launch文件学习：https://blog.csdn.net/lingchen2348/article/details/79661114

ros初学框架：

http://center.bwbot.org/media/ROS%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%93%8D%E4%BD%9C%E7%B3%BB%E7%BB%9F.svg

ros学习：https://sychaichangkun.gitbooks.io/ros-tutorial-icourse163/content/

 

关于vins_fusion的博客：
1.初探：https://blog.csdn.net/huanghaihui_123/article/details/86518880
2.vio主体： https://blog.csdn.net/huanghaihui_123/article/details/86610562
3.vioGPS融合框架： https://blog.csdn.net/huanghaihui_123/article/details/87183055
4.回环检测loop_fusion主体：https://blog.csdn.net/huanghaihui_123/article/details/87357488
5.imu在vins里的理解:https://blog.csdn.net/huanghaihui_123/article/details/87713083
6.vio中processThread线程:https://blog.csdn.net/huanghaihui_123/article/details/87974670
7.vins-回环检测单独剥离运行:https://blog.csdn.net/huanghaihui_123/article/details/88534266
 

关于vins_mono博客:

1.vins-mono代码解读：https://www.cnblogs.com/buxiaoyi/p/8660854.html

2.IMU的噪声模型：https://www.cnblogs.com/buxiaoyi/p/7541974.html

3.vins-mono文章翻译：https://blog.csdn.net/qq_41839222/article/details/85683373

4.vins-mono的预积分推导：https://www.sohu.com/a/242760307_715754

5.vins-mono论文解读：https://blog.csdn.net/qq_41839222/article/details/85793998

 

message_runtime

错误

改成message_runtime

 

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:224 (message):
  catkin_package() DEPENDS on the catkin package 'oscpp' which must therefore
  be listed as a run dependency in the package.xml
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  beginner_tutorials/CMakeLists.txt:105 (catkin_package)

 

在package.xml 文件中添加

oscpp

 

 

错误：

ERROR: cannot launch node of type [map_server/map_server]: map_server
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/ubuntu/pibot_ros/ros_ws/src
ROS path [2]=/opt/ros/kinetic/share
ERROR: cannot launch node of type [move_base/move_base]: move_base
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/ubuntu/pibot_ros/ros_ws/src
ROS path [2]=/opt/ros/kinetic/share
ERROR: cannot launch node of type [amcl/amcl]: amcl
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/ubuntu/pibot_ros/ros_ws/src
ROS path [2]=/opt/ros/kinetic/share
 

解决办法：

1.sudo apt-get install ros-indigo-map-server

2.sudo apt-get install ros-kinetic-move-base

3.sudo apt-get install ros-kinetic-amcl

 

 

错误：（环境问题）

[FATAL] [1553152404.464962221]: Failed to create the global_planner/GlobalPlanner planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class global_planner/GlobalPlanner with base class type nav_core::BaseGlobalPlanner does not exist. Declared types are  navfn/NavfnROS
[move_base-6] process has died [pid 11048, exit code 1, cmd /opt/ros/kinetic/lib/move_base/move_base __name:=move_base __log:=/home/ubuntu/.ros/log/c87dab28-4ba5-11e9-9440-00044bc4f001/move_base-6.log].
log file: /home/ubuntu/.ros/log/c87dab28-4ba5-11e9-9440-00044bc4f001/move_base-6*.log

 

解决办法：

重装ROS    ./pibot_install_ros.sh