suyixiu / robot_sim Goto Github PK

Hello, thank you very much for your selfless sharing, it is a very rewarding work. When I run 'roslaunch yixiuge_ur10_moveit_config yixiuge_ur_moveit.launch'on ros melodic, the following problems occur, and I would like to consult you how to solve them?
Thanks in advance for your reply, best wishes for you!

真的写得太乱了，忙完这阵子重构一下吧。见谅，respect！salute！

博主您好，我在运行roslaunch robot_sim gpd_run.launch type:=2 topic:=/cloud_sample时，出现如下错误：

显示说出现了malloc(): memory corruption错误，我猜想是1.pcd点云维度不匹配导致的错误，但苦苦思索了一个周也没有解决该问题。请问您在运行过程中有出现过这种内存损坏的问题，或者您知道如何解决该问题吗？
另外我所用的版本如下：

• ubuntu18.04
• PCL 1.9.0
• Opencv 3.4.3
• GPD 2.0.0

运行到这一步rosrun robot_sim camera_calibration报错，我确定已经加了权限
[rosrun] Couldn't find executable named camera_calibration below /home/ghm/ghm_robot_ws/src/robot_sim/experiment
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/ghm/ghm_robot_ws/src/robot_sim/experiment/camera_calibration
但是报错了

Updating ModelState: model [wooden_peg] does not exist

可以使用其他深度学习中6D姿态估计的方法替换掉GPD嘛？ 比如DOPE

在运行过程出出现以下问题，麻烦博主帮助解答一下。ubuntu16.04.
1，在手眼标定部分，执行roslaunch robot_sim hand_eye_calibration.launch命令过程中报错：No robot state or robot model loaded.

2，执行完roslaunch robot_sim hand_eye_calibration.launch，没有加载出rqt-image-view，

3，在改变姿态进行手眼标定时，点击Take Sample后再点check starting pose，rqt_easy_handeye.perspective-rqt闪退，报错如下：

Traceback (most recent call last):
File "camera_calibration.py", line 67, in
calibration_photo(RGB_photo_path, "RGB_camera")
File "camera_calibration.py", line 45, in calibration_photo
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(world_position, image_position, (1280, 720), None, None) # 计算内参
cv2.error: OpenCV(4.2.0) ../modules/calib3d/src/calibration.cpp:3681: error: (-215:Assertion failed) nimages > 0 in function 'calibrateCameraRO'
怎么解决

环境：Ubuntu18.04 ROS melodic rosversion: 1.14.12
universal_robot仓库，不应该使用 melodic-devel分支吗，使用 melodic-devel分支会报如下错误：

从melodic-devel分支仓库里面没找着这些文件，请问是从哪里下，还是从里面的文件重命名出来的？
但kinetic-devel分支里面有，这些交叉用没有影响吗 ？

版本说明

• ubuntu 16.04
• PCL 1.9.0
• VTK 8.1.0
• rosdistro kinetic
• rosversion 1.12.17

问题1 error: reference to ‘detail’ is ambiguous

参考资料, 问题出现的原因是代码中使用了using namespace cv;

• 解决方式就是删除using namespace cv,并在对应的位置补上cv::

问题2 /usr/local/lib/libvtkCommonCore-8.1.so.1: error adding symbols: DSO missing from command line

参考资料,但修改完仍有问题 ``对‘vtkRenderingOpenGL_AutoInit_Destruct()’未定义的引用，再参考资料,在~/catkin_ws/src/robot_sim/experiment/CMakeLists.txt的GPD_method_grasp和data_collection的target_link_libraries中添加${PCL_LIBRARIES}

## GPD_method_grasp ##
aux_source_directory(${PROJECT_SOURCE_DIR}/grasp/GPD_method/src GPD_method_SrcFiles)
add_executable(GPD_method_grasp ${GPD_method_SrcFiles})
add_dependencies(GPD_method_grasp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}
target_link_libraries(GPD_method_grasp ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES})


# 数据采集部分 #
aux_source_directory(${PROJECT_SOURCE_DIR}/data_collection/src data_collection_SrcFiles)
add_executable(data_collection ${data_collection_SrcFiles})
add_dependencies(data_collection ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(data_collection ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES}) 

请问博主这种VTK报错应该如何解决呢，卡在这里了。。。
环境：
Ubuntu 16.04
gazebo7
ROS Kinetic
PCL 1.9.0
VTK 7.1

CMakeFiles/GPD_method_grasp.dir/grasp/GPD_method/src/main.cpp.o：在函数‘__static_initialization_and_destruction_0(int, int)’中：
main.cpp:(.text+0x3a34)：对‘vtkObjectFactoryRegistryCleanup::vtkObjectFactoryRegistryCleanup()’未定义的引用
main.cpp:(.text+0x3a43)：对‘vtkObjectFactoryRegistryCleanup::~vtkObjectFactoryRegistryCleanup()’未定义的引用
CMakeFiles/GPD_method_grasp.dir/grasp/GPD_method/src/main.cpp.o：在函数‘vtkRenderingCore_AutoInit::vtkRenderingCore_AutoInit()’中：
main.cpp:(.text._ZN25vtkRenderingCore_AutoInitC2Ev[_ZN25vtkRenderingCore_AutoInitC5Ev]+0x17)：对‘vtkRenderingOpenGL2_AutoInit_Construct()’未定义的引用
CMakeFiles/GPD_method_grasp.dir/grasp/GPD_method/src/main.cpp.o：在函数‘vtkRenderingCore_AutoInit::~vtkRenderingCore_AutoInit()’中：
main.cpp:(.text._ZN25vtkRenderingCore_AutoInitD2Ev[_ZN25vtkRenderingCore_AutoInitD5Ev]+0x17)：对‘vtkRenderingOpenGL2_AutoInit_Destruct()’未定义的引用
collect2: error: ld returned 1 exit status
robot_sim/experiment/CMakeFiles/GPD_method_grasp.dir/build.make:601: recipe for target '/home/boron/catkin_ws/devel/lib/robot_sim/GPD_method_grasp' failed
make[2]: *** [/home/boron/catkin_ws/devel/lib/robot_sim/GPD_method_grasp] Error 1
CMakeFiles/Makefile2:13484: recipe for target 'robot_sim/experiment/CMakeFiles/GPD_method_grasp.dir/all' failed
make[1]: *** [robot_sim/experiment/CMakeFiles/GPD_method_grasp.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....

gripper_angle = 0.0033113173071797 * grasp_distance + 0.127363015998244;

上面这句怎了来的，我想着用仿真控制robotiq，但是只能控制关节，我想知道关节和robotiq的两个tip间的宽度对应关系。

double roll = theta * sin(-phi);
double pitch = theta * cos(phi);
double yaw = 0;
这段不太懂，能解释一下？

依赖：Eigen3.0 PCL1.9.0 opencv3.3.1 VTK8.1.0
相机标定的时候出错了，提示gray是局部变量，不知博主是否有注意到？

cv::imshow无法显示窗口，使用传统方法抓取，程序会卡死在imshow这一行，这是因为什么呀，opencv测试可用

你好，非常感谢你的工作。

我编译完你的工程，然后想跑一下“在仿真环境中进行相机标定”测试，gazebo和标定程序都能正常启动，但是当输入下面这个指令时就段错误了，请问你知道怎么解决吗？

$ rosrun robot_sim camera_calibration
qx, qy, qz, qw= 0.15893, 0.173378, 0.130033, 0.96321
x,y,z = -0.145, 0.046, 0.1625
Segmentation fault (core dumped)