When I follow instructions and try to run run_example.sh, I get error below.
a_star_planner registered successfully! a_star_planner has been registered! [ERROR] [1516811755.841301213]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying... [ INFO] [1516811756.214077703]: Connected to master at [localhost:11311] E0125 00:35:58.487712 28550 global_planner_node.cpp:224] Get Robot Pose Error.

In the timed_elastic_band.prototxt, the robot footprint is set to POLYGON. But when setting the footprint model in function RobotFootprintModelPtr(), it actually return the PointRobotFootprint model here. Since the teb code in RoboRTS is significantly different from the ros teb source code, does this wrong model setting affect the local planning?

When catkin_make, I got this:

/home/weideng/UGV_ws/src/RoboRTS/roborts_planning/local_planner/timed_elastic_band/src/teb_optimal.cpp: In member function ‘boost::shared_ptr<g2o::SparseOptimizer> roborts_local_planner::TebOptimal::InitOptimizer()’:
/home/weideng/UGV_ws/src/RoboRTS/roborts_planning/local_planner/timed_elastic_band/src/teb_optimal.cpp:139:117: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(std::remove_reference<std::unique_ptr<g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >, std::default_delete<g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> > > >&>::type)’
  new g2o::OptimizationAlgorithmLevenberg(std::move(blockSolver));
                                                                ^
In file included from /home/weideng/UGV_ws/src/RoboRTS/roborts_planning/local_planner/timed_elastic_band/include/timed_elastic_band/teb_optimal.h:72:0,
                 from /home/weideng/UGV_ws/src/RoboRTS/roborts_planning/local_planner/timed_elastic_band/src/teb_optimal.cpp:56:
/opt/ros/kinetic/include/g2o/core/optimization_algorithm_levenberg.h:45:16: note: candidate: g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::Solver*)
       explicit OptimizationAlgorithmLevenberg(Solver* solver);
                ^
/opt/ros/kinetic/include/g2o/core/optimization_algorithm_levenberg.h:45:16: note:   no known conversion for argument 1 from ‘std::remove_reference<std::unique_ptr<g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >, std::default_delete<g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> > > >&>::type {aka std::unique_ptr<g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >, std::default_delete<g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> > > >}’ to ‘g2o::Solver*’

My system is ubuntu-16.04.7, ROS is Kinetic .

The libg2o is : 2016.4.24-0xenial-20201017-070803+0000. .

When I saw other issue and found the version this project uesd, but I got this Version '2016.4.24-0xenial-20171104-173138-0800' for 'ros-kinetic-libg2o' was not found .

Please help!

Hi
I am lucky to have partipated the 2018 ICRA AI Challenge. and was impressive about DJI autoRobot.
I wonder if the robot is detected using Yolo module?cause recently I also using Yolo to detect object but was failed to get yolo network result currectly. the weight is trained by myself and was checked by using ./darknet ....... ,everything looks fine,after I encapsulation Yolo srource file in the way RoboRTS do,and run in C++,even the image I passed into yolo is absolutly right ,I still cant get currect yolo detection result. the object number yolo returned me is always 0,and the windows yolo drawed by itself is also no reaction.hopes anyone can helps me to figure out what is going wrong .

The camera coordinate isn't always parallel to the world coordinate so you need to add the Euler angles.
To compute the Euler angles, rotation vector must be turned into a rotation matrix using cv::Rodrigues().

See here:
https://github.com/LiuChenxuan/RoboVision/blob/master/RoboVision.cpp#L58

I'm trying to catkin_make but fail when compiling armor_detection(ros melodic)

/usr/bin/ld: warning: libopencv_core.so.3.4, needed by /home/makerlab/roborts_ws/devel/lib/libconstraint_set.so, may conflict with libopencv_core.so.3.2 /usr/bin/ld: /home/makerlab/roborts_ws/devel/lib/roborts_detection/armor_detection_node: hidden symbol _ZN6google8protobuf8internal14WireFormatLite9WriteBoolEibPNS0_2io17CodedOutputStreamE' in /usr/local/lib/libprotobuf.a(wire_format_lite.cc.o) is referenced by DSO
/usr/bin/ld: final link failed: Bad value
collect2: error: ld returned 1 exit status
RoboRTS/roborts_detection/armor_detection/CMakeFiles/armor_detection_node.dir/build.make:245: recipe for target '/home/makerlab/roborts_ws/devel/lib/roborts_detection/armor_detection_node' failed
make[2]: *** [/home/makerlab/roborts_ws/devel/lib/roborts_detection/armor_detection_node] Error 1
CMakeFiles/Makefile2:5617: recipe for target 'RoboRTS/roborts_detection/armor_detection/CMakeFiles/armor_detection_node.dir/all' failed
make[1]: *** [RoboRTS/roborts_detection/armor_detection/CMakeFiles/armor_detection_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
`
And I want to specify the version in certain cmake file, but I cannot find "findpackage()" in the cmake file in armor detection package. So how can i do?

https://github.com/RoboMaster/RoboRTS-Firmware/blob/f7d21b0c6261718b302435b2961caca097b52e5b/MDK-ARM/rmlib/infantry_info.h#L270

They are different......

您好 链接中odom_frame_是否应该是"/map"呢?

We review the code in serial_com_node and find this.

双向测试发现，都可以正常发送数据，但是接受过程中的解码似乎出现问题，主要体现是串口助手读取车或者tx2端都有数据，但是互相解码的过程中无法正常解码，导致两边系统无法通信

catkin_make failed

/home/haodong/roborts_ws/src/RoboRTS/modules/driver/camera/proto/camera_param.pb.h:12:2: error: #error This file was generated by a newer version of protoc which is
 #error This file was generated by a newer version of protoc which is
  ^
/home/haodong/roborts_ws/src/RoboRTS/modules/driver/camera/proto/camera_param.pb.h:13:2: error: #error incompatible with your Protocol Buffer headers. Please update
 #error incompatible with your Protocol Buffer headers.  Please update
  ^
/home/haodong/roborts_ws/src/RoboRTS/modules/driver/camera/proto/camera_param.pb.h:14:2: error: #error your headers.
 #error your headers.

my protobuf version:
2.6.1-1.3

When I ran command:
rosrun roborts_base roborts_base_node
or
roslaunch roborts_bringup base.launch

I got the following error:
WARNING: Logging before InitGoogleLogging() is written to STDERR
E1230 23:24:22.297278 9929 handle.cpp:29] Can not open device: /dev/serial_sdk. Please check if the USB device is inserted and connection is configured correctly!

Some information:
nvidia@tegra-ubuntu:~$ lsusb
Bus 002 Device 020: ID 8086:0b3a Intel Corp.
Bus 002 Device 017: ID 0bda:0411 Realtek Semiconductor Corp.
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 011: ID 0483:5740 STMicroelectronics STM32F407
Bus 001 Device 007: ID 1c4f:0002 SiGma Micro Keyboard TRACER Gamma Ivory
Bus 001 Device 010: ID 17ef:602e Lenovo
Bus 001 Device 003: ID 0bda:5411 Realtek Semiconductor Corp.
Bus 001 Device 002: ID 10c4:ea60 Cygnal Integrated Products, Inc. CP210x UART Bridge / myAVR mySmartUSB light
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

nvidia@tegra-ubuntu:~/robo_ws/src/RoboRTS/roborts_bringup$ cat scripts/udev/roborts.rules
#set the udev rule
KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0777", SYMLINK+="serial_sdk"
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="rplidar"

Thank you!

Hello ,@RoboMaster,@KevinLADLee,I install RoboRTS in TX2(JetPack 3.2.1), when i catkin_make,it show this error:
/usr/bin/ld: cannot find -lgxiapi
collect2: error: ld returned 1 exit status
RoboRTS-master/modules/driver/camera/mercure/CMakeFiles/mercure.dir/build.make:165: recipe for target '/home/nvidia/RoboRTS_ros/devel/lib/libmercure.so' failed
make[2]: *** [/home/nvidia/RoboRTS_ros/devel/lib/libmercure.so] Error 1
CMakeFiles/Makefile2:6455: recipe for target 'RoboRTS-master/modules/driver/camera/mercure/CMakeFiles/mercure.dir/all' failed
make[1]: *** [RoboRTS-master/modules/driver/camera/mercure/CMakeFiles/mercure.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
AND this warning :
:0:15: warning: ISO C++11 requires whitespace after the macro name
Thank you so much

RoboRTS/roborts_planning/local_planner/timed_elastic_band/src/teb_local_planner.cpp 的第238-255行两个方法无返回值，运行时内存异常。
bool TebLocalPlanner::SetPlan(const nav_msgs::Path& plan, const geometry_msgs::PoseStamped& goal) {
if (plan_mutex_.try_lock()) {
ROS_INFO("set plan");
if (plan.poses.empty()) {
temp_plan_.poses.push_back(goal);
} else {
temp_plan_ = plan;
}
plan_mutex_.unlock();
}}
bool TebLocalPlanner::GetPlan(const nav_msgs::Path& plan) {
if (plan_mutex_.try_lock()) {
global_plan_ = plan;
plan_mutex_.unlock();
}}

(本人入门小白，如有误报，敬请原谅。)

/home/makerlab/roborts_ws/devel/lib/roborts_detection/armor_detection_node: hidden symbol `_ZN6google8protobuf8internal14WireFormatLite9WriteBoolEibPNS0_2io17CodedOutputStreamE' in /usr/local/lib/libprotobuf.a(wire_format_lite.cc.o) is referenced by DSO
/usr/bin/ld: final link failed: Bad value
collect2: error: ld returned 1 exit status
RoboRTS/roborts_detection/armor_detection/CMakeFiles/armor_detection_node.dir/build.make:268: recipe for target '/home/makerlab/roborts_ws/devel/lib/roborts_detection/armor_detection_node' failed
make[2]: *** [/home/makerlab/roborts_ws/devel/lib/roborts_detection/armor_detection_node] Error 1
CMakeFiles/Makefile2:5617: recipe for target 'RoboRTS/roborts_detection/armor_detection/CMakeFiles/armor_detection_node.dir/all' failed
make[1]: *** [RoboRTS/roborts_detection/armor_detection/CMakeFiles/armor_detection_node.dir/all] Error 2

I can hardly figure out how to solve it

Hi,
I was running catkin_make command on manifold 2 and i got the following message:

/usr/bin/ld: 当搜索用于 /usr/lib/gcc/aarch64-linux-gnu/5/../../../../lib/libOpenNI.so 时跳过不兼容的 -lOpenNI /usr/bin/ld: 当搜索用于 /usr/lib/../lib/libOpenNI.so 时跳过不兼容的 -lOpenNI /usr/bin/ld: 当搜索用于 /usr/lib/gcc/aarch64-linux-gnu/5/../../../libOpenNI.so 时跳过不兼容的 -lOpenNI /usr/bin/ld: 当搜索用于 //usr/lib/libOpenNI.so 时跳过不兼容的 -lOpenNI /usr/bin/ld: 找不到 -lOpenNI collect2: error: ld returned 1 exit status RoboRTS-ros/roborts_costmap/CMakeFiles/roborts_costmap.dir/build.make:574: recipe for target '/home/dji/roborts_ws/devel/lib/libroborts_costmap.so' failed make[2]: *** [/home/dji/roborts_ws/devel/lib/libroborts_costmap.so] Error 1 CMakeFiles/Makefile2:4940: recipe for target 'RoboRTS-ros/roborts_costmap/CMakeFiles/roborts_costmap.dir/all' failed make[1]: *** [RoboRTS-ros/roborts_costmap/CMakeFiles/roborts_costmap.dir/all] Error 2 Makefile:159: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j6 -l6" failed
any ideas ? :(

I try to build a multi robots simulation system with stage_ros and gazebo, but it failed, when i put all node than needed in a "group" tag, the global planner and local planner are out of work, dose anyone have some good ideas?

When I ran
roslaunch roborts_bringup base.launch

I got:
`nvidia@tegra-ubuntu:~/robo_ws$ roslaunch roborts_bringup base.launch
... logging to /home/nvidia/.ros/log/85a77314-2c88-11ea-b9c4-00044bc60ac7/roslaunch-tegra-ubuntu-28819.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/nvidia/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

WARNING: ignoring defunct tag
started roslaunch server http://localhost:40396/

SUMMARY

PARAMETERS

• /rosdistro: kinetic
• /rosversion: 1.12.14
• /serial_port: /dev/serial_sdk

NODES
/
roborts_base_node (roborts_base/roborts_base_node)

ROS_MASTER_URI=http://localhost:11311

process[roborts_base_node-1]: started with pid [28838]
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0101 19:19:45.388367 28838 handle.cpp:33] Connection to /dev/serial_sdk
I0101 19:19:45.389498 28838 handle.cpp:39] Initialization of protocol layer and dispatch layer succeeded.
E0101 19:19:45.449671 28850 protocol.cpp:102] Retry session 2
E0101 19:19:45.500548 28850 protocol.cpp:102] Retry session 2
E0101 19:19:45.552613 28850 protocol.cpp:102] Retry session 2
E0101 19:19:45.560545 28850 protocol.cpp:102] Retry session 3
E0101 19:19:45.604527 28850 protocol.cpp:102] Retry session 2
E0101 19:19:45.612335 28850 protocol.cpp:102] Retry session 3
E0101 19:19:45.656569 28850 protocol.cpp:98] Sending timeout, Free session 2
E0101 19:19:45.663347 28850 protocol.cpp:102] Retry session 3
E0101 19:19:45.714380 28850 protocol.cpp:102] Retry session 3
E0101 19:19:45.765506 28850 protocol.cpp:98] Sending timeout, Free session 3
`

using ubuntu18.04 when I execute catkin_make, I get this error
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GLOG_LIBRARY (ADVANCED)
linked by target "global_planner_node" in directory /home/bly/project/roborts_ws/src/RoboRTS/roborts_planning/global_planner

-- Configuring incomplete, errors occurred!
See also "/home/bly/project/roborts_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/bly/project/roborts_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

During my study of the DJI RoboRTS, I find some mistake about the Introductory course (https://robomaster.github.io/RoboRTS-Tutorial/#/sdk_docs/architecture).
On the chapter of it's "roborts_base"->"模块介绍",there is a mistake after the Node graph, the first title should be "底盘模块" not the "云台模块"。

In the newest RoboRTS, local planner does not work properly. Log information is shown below. When I reset to previos commit, it works again.
[libprotobuf ERROR google/protobuf/text_format.cc:274] Error parsing text-format rrts.planning.local_planner.Config: 48:32: Need space between number and identifier.
[libprotobuf ERROR google/protobuf/text_format.cc:274] Error parsing text-format rrts.planning.local_planner.Config: 49:5: Message type "rrts.planning.local_planner.Obstacles" has no field named "maibva".

in teb_local_planner.cpp
i try print 'robot_inscribed_radius_' and 'robot_circumscribed_radius'
bool feasible = optimal_->IsTrajectoryFeasible(teb_error_info_, robot_cost_.get(), robot_footprint_, robot_inscribed_radius_, robot_circumscribed_radius, fesiable_step_look_ahead_); ROS_INFO("Footprint %f, %f", robot_inscribed_radius_, robot_circumscribed_radius);
the result is that

so i am sure robot_inscribed_radius_ and robot_circumscribed_radius calculate wrong

hi：
When I tried to compile the whole project, I found the problem was initialization.
I tried to mask some code, the compiler passed, but I do not know how to amend mistakes. I used the latest version of g2o.
Looking forward to your reply!

[ 92%] Building CXX object modules/planning/local_planner/timed_elastic_band/CMakeFiles/timed_elastic_band.dir/teb_optimal.cpp.o
/home/ls/my/robomaster/RoboRTS/modules/planning/local_planner/timed_elastic_band/teb_optimal.cpp: In member function ‘boost::shared_ptrg2o::SparseOptimizer rrts::planning::local_planner::TebOptimal::InitOptimizer()’:
/home/ls/my/robomaster/RoboRTS/modules/planning/local_planner/timed_elastic_band/teb_optimal.cpp:140:64: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(rrts::planning::local_planner::TebLinearSolver*&)’
TebBlockSolver* blockSolver = new TebBlockSolver(linearSolver);

Can I use the local planner pack for my diff drive vehicle by modify some parameters?

And is this local planner pack special designed for omni driving vehicle?

I tested it in my stage simulation,and it seems turn too early before it reach the goal, and i assume it's trying to reach the goal by moving it toward y axis, but i have already set max_vel_y and acc_lim_y to zero, should i change other params?

Thanks for your help in advance!!

I am very interested in the implementation of the algorithm factory in this framework.It's a wonderfull idea to use templates.Now, I have a doubt about the function Register in class AlgorithmRegister(as you see below),

template <int... Is>
  void Register(std::string algorithm_name, int_sequence<Is...>) {
    auto function = std::bind(&AlgorithmRegister<AlgorithmBase, Algorithm, Args...>::create,
                              std::placeholder_template<Is>{}...);
    AlgorithmFactory<AlgorithmBase, Args...>::Register(algorithm_name, function);
  }

Instead of passing the function create directly, it uses bind to wrap it. Such practice leads to a dependency on int_sequence and placeholder_template, making the code complicated. So I rewrite it as follow:

void Register(std::string algorithm_name) {
    AlgorithmFactory<AlgorithmBase, Args...>::Register(algorithm_name, &AlgorithmRegister<AlgorithmBase, Algorithm, Args...>::create);
  }

Would it be better choice?How did the engineer consider it at that time?

the sleep() time set in the run_example.sh is too short causing "Get Robot Pose Error"

if I run the commands individually, the example can be opened successfully,
but if I run the run_example.sh,i get error.

Yang Yanhao
South China University Of Technology

when I tried to compile the project,it warned me that :message/localization.h .no such file or directory.
It's a header files in modules/perception/localization/localization_client.cpp.Is it a ros header file cause I can't find it in ros libraries.I use ros kinetic by the way

We review RoboRTS and RoboRTS-Firmware again and find

There some errors when I make the project，like the picture, can you tell me what's wrong? My Tx2 environment is ubuntu 18.04 and ROS melodic.

after update the code
i found my tx2 con not communicate with rm board

Accroding to ros-planning/navigation#499
It seem should be:

  double trans_hat_stddev = (alpha3 * (delta_trans*delta_trans) +
                             alpha4 * (delta_rot*delta_rot));,
  double rot_hat_stddev = (alpha1 * (delta_rot*delta_rot) + 
                           alpha2 * (delta_trans*delta_trans));
  double strafe_hat_stddev = (alpha4 * (delta_rot*delta_rot) + 
                              alpha5 * (delta_trans*delta_trans));

when I tried to run the example, I typed the command ./build/modules/drive/camera/camera_driver, is said that ROS_MASTER_URI is not defined in the environment. But I add export ROS_MASTER_URI=http://localhost:11311 in the .bashrc file. It doesn't work,either

fatal error when "catkin_make":
modules/perception/detection/armor_detection/constraint/set/proto/constraint_set.pb.h no such file or directory

can be fixed by run "cakin_make" again after the error

sheng_ws/src/RoboRTS/roborts_planning/local_planner/include/local_planner/local_planner_base.h:67:37: fatal error: roborts_msgs/TwistAccel.h: 没有那个文件或目录
compilation terminated.
RoboRTS/roborts_planning/local_planner/timed_elastic_band/CMakeFiles/timed_elastic_band.dir/build.make:93: recipe for target 'RoboRTS/roborts_planning/local_planner/timed_elastic_band/CMakeFiles/timed_elastic_band.dir/src/teb_local_planner.cpp.o' failed
CMakeFiles/Makefile2:6188: recipe for target 'RoboRTS/roborts_planning/local_planner/timed_elastic_band/CMakeFiles/timed_elastic_band.dir/all' failed
Makefile:140: recipe for target 'all' failed
make[2]: *** [RoboRTS/roborts_planning/local_planner/timed_elastic_band/CMakeFiles/timed_elastic_band.dir/src/teb_local_planner.cpp.o] Error 1
make[1]: *** [RoboRTS/roborts_planning/local_planner/timed_elastic_band/CMakeFiles/timed_elastic_band.dir/all] Error 2
make: *** [all] Error 2
Base path: /home/ros/sheng_ws
Source space: /home/ros/sheng_ws/src
Build space: /home/ros/sheng_ws/build
Devel space: /home/ros/sheng_ws/devel
Install space: /home/ros/sheng_ws/install

Running command: "make cmake_check_build_system" in "/home/ros/sheng_ws/build"

Running command: "make -j4 -l4" in "/home/ros/sheng_ws/build"

Invoking "make -j4 -l4" failed

I was running catkin_make command to after I cloned the RoboRTS repo to /src directory and I got the following message:
c++: internal compiler error: Killed (program cc1plus) Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-5/README.Bugs> for instructions. RoboRTS/roborts_planning/local_planner/CMakeFiles/teb_test.dir/build.make:93: recipe for target 'RoboRTS/roborts_planning/local_planner/CMakeFiles/teb_test.dir/src/teb_test.cpp.o' failed make[2]: *** [RoboRTS/roborts_planning/local_planner/CMakeFiles/teb_test.dir/src/teb_test.cpp.o] Error 4
The RoboRTS repo is up-to-date and I can successfully run catkin_make command in an empty workspace.

when i set fric_wheel_spd = 1, is ok the wheel run well, but when i set "fric_wheel_spd" more then one , the wheel did not run, is there a shoot control sample or is there some wrong with the RoboRTS-Firmware

In the newest RoboRTS code(commit 9093c2b), no matter what the yaw angle of the goal is, the direction of the robot (red axes in rviz) always points to the right (says even the goal direction points to the left).
NOTE: the only change to the code is that yaw_goal_tolerance is set to 0.1 instead of 3.14, which should make sense since we want to follow the goal direction.

When I use roslaunch roborts_bringup unity_navigation.launch it fails, because roborts_tf folder is missing.
As stated in /src/RoboRTS-v2/roborts_bringup/package.xml the folder roborts_tf is needed.
After commenting it out it launches wihtout error, but rviz doesnt work correctly and the some nodes give error
I use wsl with Ubuntu 20.4 and ros-noetic
Did someone successfuly launch the simulation ?

<buildtool_depend>catkin</buildtool_depend>

<build_depend>roborts_base</build_depend>
<build_depend>roborts_common</build_depend>
<build_depend>roborts_localization</build_depend>
<build_depend>roborts_costmap</build_depend>
<build_depend>roborts_msgs</build_depend>
<build_depend>roborts_planning</build_depend>
<!--<build_depend>roborts_tf</build_depend> -->

<run_depend>roborts_base</run_depend>
<run_depend>roborts_common</run_depend>
<run_depend>roborts_localization</run_depend>
<run_depend>roborts_costmap</run_depend>
<run_depend>roborts_msgs</run_depend>
<!--<run_depend>roborts_tf</run_depend> -->

<export>
</export>

编译环境：
Ubuntu18.04, ROS-Melodic, OpenCV3.4.9, CUDA10.2, GCC/G++5.5/7.5

编译时候报错：c++: internal compiler error: Segmentation fault (program cc1plus)

已经尝试过的解决方法:
找到相关issues：https://github.com/RoboMaster/RoboRTS/issues/40，但报错位置不一样，无法解决。
另参考其他博文，增加SWAP2G也不能解决，将GCC/G++从7.5降级到5.5也不能解决。
https://blog.csdn.net/u013095333/article/details/94188743

补充说明如下：
因为跟官方的ros-kinetic和ubuntu16版本不一样，用sudo apt-get install -y ros-melodic-cv-bridge安装cv-bridge，
但编译RoboRTS时会opencv报错 "CV_FOURCC找不到标识符"。
所以在src下单独添加vision_opencv进行cv_bridge的编译，且单独编译vision_opencv包可以通过。

编译出错日志如下，internal compiler error的出错位置在：
'RoboRTS/roborts_costmap/CMakeFiles/roborts_costmap.dir/src/observation_buffer.cpp.o' failed

发现上述失败之后，连续多次重复catkin_make，详细日志如下：

caktin_make 第1次编译.txt
catkin_make 第2次编译.txt
catkin_make 第4次编译.txt

最后一次显示空间不足，是刚刚出现的问题。之前 反复编译不下10次，没有空间不足报错，仍然有 internal compiler error: Segmentation fault (program cc1plus) 这个问题。

希望能尽快得到解答，谢谢！
有相同问题的，或者能帮忙解决的也可以回复下，在线等~~~
wx: zhjphust

设备相关参数和信息如下：虚拟内存已从原来的16G增加至22G

I want to use this Repo to make hobby mecanum robot. and i trying now. But mecanum wheel dose not work.
If anyone know it, please let me know.

When I run
roslaunch roborts_bringup base.launch
and
rostopic pub /cmd_vel ****

but mecunum wheel dose not work.

---Hardware Detail infomation---
・RM board : robomaster development board type A
・RM firmware ver : stable_v1.0.1.6
・Device : Only 4 RoboMaster M3508 P19(with c620) wheel. no connect UWB, Referee system
・Board processing : short on board 4-pin serial port R and G
・Board appearance : LED_R is ON, LED_G is Blinking
・Connection : Intel NUC ---> RM Board type A ---> (C620 ---> M3508 P19) * 4

kugou@kugou:~/catkin_ws$ roslaunch roborts_bringup base.launch
... logging to /home/kugou/.ros/log/7ce4baa6-3395-11eb-9e0d-00d86117fc71/roslaunch-kugou-15777.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARNING: ignoring defunct tag
/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/loader.py:412: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
data = yaml.load(text)
started roslaunch server http://192.168.1.201:35983/

SUMMARY

PARAMETERS

• /rosdistro: melodic
• /rosversion: 1.14.3
• /serial_port: /dev/serial_sdk

NODES
/
roborts_base_node (roborts_base/roborts_base_node)

ROS_MASTER_URI=http://localhost:11311

process[roborts_base_node-1]: started with pid [15792]
WARNING: Logging before InitGoogleLogging() is written to STDERR
I1201 14:40:49.532860 15792 handle.cpp:33] Connection to /dev/serial_sdk
I1201 14:40:49.532920 15792 handle.cpp:39] Initialization of protocol layer and dispatch layer succeeded.
E1201 14:40:49.584280 15798 protocol.cpp:103] Retry session 2
[ INFO] [1606801249.586549455]: Chassis Firmware Version: 1.0.1.6
E1201 14:40:49.587541 15798 protocol.cpp:103] Retry session 3
E1201 14:40:49.639430 15798 protocol.cpp:103] Retry session 3
E1201 14:40:49.691453 15798 protocol.cpp:103] Retry session 3
E1201 14:40:49.742478 15798 protocol.cpp:103] Retry session 3

roborts_common::ErrorInfo roborts_global_planner::AStarPlanner::Plan(const PoseStamped&, const PoseStamped&, std::vector<geometry_msgs::PoseStamped_<std::allocator > >&)’:
/home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:86:52: error: call of overloaded ‘abs(unsigned int)’ is ambiguous
unsigned int dist = abs(goal_x - tmp_goal_x) + abs(goal_y - tmp_goal_y);
^
In file included from /usr/include/c++/7/cstdlib:75:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/stdlib.h:837:12: note: candidate: int abs(int)
extern int abs (int __x) __THROW attribute ((const)) __wur;
^~~
In file included from /usr/include/c++/7/cstdlib:77:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/c++/7/bits/std_abs.h:56:3: note: candidate: long int std::abs(long int)
abs(long __i) { return __builtin_labs(__i); }
^~~
/usr/include/c++/7/bits/std_abs.h:61:3: note: candidate: long long int std::abs(long long int)
abs(long long __x) { return __builtin_llabs (__x); }
^~~
/usr/include/c++/7/bits/std_abs.h:70:3: note: candidate: constexpr double std::abs(double)
abs(double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:74:3: note: candidate: constexpr float std::abs(float)
abs(float __x)
^~~
/usr/include/c++/7/bits/std_abs.h:78:3: note: candidate: constexpr long double std::abs(long double)
abs(long double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:84:3: note: candidate: constexpr __int128 std::abs(__int128)
abs(__GLIBCXX_TYPE_INT_N_0 __x) { return __x >= 0 ? __x : -__x; }
^~~
/usr/include/c++/7/bits/std_abs.h:102:3: note: candidate: constexpr __float128 std::abs(__float128)
abs(__float128 __x)
^~~
/home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:86:79: error: call of overloaded ‘abs(unsigned int)’ is ambiguous
unsigned int dist = abs(goal_x - tmp_goal_x) + abs(goal_y - tmp_goal_y);
^
In file included from /usr/include/c++/7/cstdlib:75:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/stdlib.h:837:12: note: candidate: int abs(int)
extern int abs (int __x) __THROW attribute ((const)) __wur;
^~~
In file included from /usr/include/c++/7/cstdlib:77:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/c++/7/bits/std_abs.h:56:3: note: candidate: long int std::abs(long int)
abs(long __i) { return __builtin_labs(__i); }
^~~
/usr/include/c++/7/bits/std_abs.h:61:3: note: candidate: long long int std::abs(long long int)
abs(long long __x) { return __builtin_llabs (__x); }
^~~
/usr/include/c++/7/bits/std_abs.h:70:3: note: candidate: constexpr double std::abs(double)
abs(double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:74:3: note: candidate: constexpr float std::abs(float)
abs(float __x)
^~~
/usr/include/c++/7/bits/std_abs.h:78:3: note: candidate: constexpr long double std::abs(long double)
abs(long double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:84:3: note: candidate: constexpr __int128 std::abs(__int128)
abs(__GLIBCXX_TYPE_INT_N_0 __x) { return __x >= 0 ? __x : -__x; }
^~~
/usr/include/c++/7/bits/std_abs.h:102:3: note: candidate: constexpr __float128 std::abs(__float128)
abs(_float128 x)
^~~
/home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp: In member function ‘void roborts_global_planner::AStarPlanner::GetManhattanDistance(const int&, const int&, int&) const’:
/home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:244:102: error: call of overloaded ‘abs(unsigned int)’ is ambiguous
manhattan_distance = heuristic_factor* 10 * (abs(index1 / gridmap_width - index2 / gridmap_width) +
^
In file included from /usr/include/c++/7/cstdlib:75:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/stdlib.h:837:12: note: candidate: int abs(int)
extern int abs (int __x) __THROW attribute ((const)) __wur;
^~~
In file included from /usr/include/c++/7/cstdlib:77:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/c++/7/bits/std_abs.h:56:3: note: candidate: long int std::abs(long int)
abs(long __i) { return __builtin_labs(__i); }
^~~
/usr/include/c++/7/bits/std_abs.h:61:3: note: candidate: long long int std::abs(long long int)
abs(long long __x) { return __builtin_llabs (__x); }
^~~
/usr/include/c++/7/bits/std_abs.h:70:3: note: candidate: constexpr double std::abs(double)
abs(double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:74:3: note: candidate: constexpr float std::abs(float)
abs(float __x)
^~~
/usr/include/c++/7/bits/std_abs.h:78:3: note: candidate: constexpr long double std::abs(long double)
abs(long double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:84:3: note: candidate: constexpr __int128 std::abs(__int128)
abs(__GLIBCXX_TYPE_INT_N_0 __x) { return __x >= 0 ? __x : -__x; }
^~~
/usr/include/c++/7/bits/std_abs.h:102:3: note: candidate: constexpr __float128 std::abs(__float128)
abs(__float128 x)
^~~
/home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:245:60: error: call of overloaded ‘abs(unsigned int)’ is ambiguous
abs(index1 % gridmap_width - index2 % gridmap_width));
^
In file included from /usr/include/c++/7/cstdlib:75:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/stdlib.h:837:12: note: candidate: int abs(int)
extern int abs (int __x) __THROW attribute ((const)) __wur;
^~~
In file included from /usr/include/c++/7/cstdlib:77:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/c++/7/bits/std_abs.h:56:3: note: candidate: long int std::abs(long int)
abs(long __i) { return __builtin_labs(__i); }
^~~
/usr/include/c++/7/bits/std_abs.h:61:3: note: candidate: long long int std::abs(long long int)
abs(long long __x) { return __builtin_llabs (__x); }
^~~
/usr/include/c++/7/bits/std_abs.h:70:3: note: candidate: constexpr double std::abs(double)
abs(double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:74:3: note: candidate: constexpr float std::abs(float)
abs(float __x)
^~~
/usr/include/c++/7/bits/std_abs.h:78:3: note: candidate: constexpr long double std::abs(long double)
abs(long double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:84:3: note: candidate: constexpr __int128 std::abs(__int128)
abs(__GLIBCXX_TYPE_INT_N_0 __x) { return __x >= 0 ? __x : -__x; }
^~~
/usr/include/c++/7/bits/std_abs.h:102:3: note: candidate: constexpr __float128 std::abs(__float128)
abs(__float128 __x)
^~~
roborts_planning/global_planner/a_star_planner/CMakeFiles/a_star_planner.dir/build.make:93: recipe for target 'roborts_planning/global_planner/a_star_planner/CMakeFiles/a_star_planner.dir/a_star_planner.cpp.o' failed
make[2]: *** [roborts_planning/global_planner/a_star_planner/CMakeFiles/a_star_planner.dir/a_star_planner.cpp.o] Error 1
CMakeFiles/Makefile2:6011: recipe for target 'roborts_planning/global_planner/a_star_planner/CMakeFiles/a_star_planner.dir/all' failed
Makefile:140: recipe for target 'all' failed
Base path: /home/sheng/guanfang_ws
Source space: /home/sheng/guanfang_ws/src
Build space: /home/sheng/guanfang_ws/build
Devel space: /home/sheng/guanfang_ws/devel
Install space: /home/sheng/guanfang_ws/install

Running command: "cmake /home/sheng/guanfang_ws/src -DCMAKE_BUILD_TYPE=Debug -DCATKIN_DEVEL_PREFIX=/home/sheng/guanfang_ws/devel -DCMAKE_INSTALL_PREFIX=/home/sheng/guanfang_ws/install -G Unix Makefiles" in "/home/sheng/guanfang_ws/build"

Running command: "make -j4 -l4" in "/home/sheng/guanfang_ws/build"

make[1]: *** [roborts_planning/global_planner/a_star_planner/CMakeFiles/a_star_planner.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

用gmapping建立地图后（地图文件包括一个pgm图片和一个描述该图片的元数据的yaml文件），用您提供的模块组织了一个launch文件，这个launch文件主要是用来重载之前建立的地图，并在该地图上进行导航，launch文件内容如下：

但是运行这个launch文件后，通过rviz，可以观察到如下的情景：Baselink坐标系在重载的地图上一直不停地大范围跳动。我认为这可能是定位不准的问题，但是不知道如何解决，期望能得到您的帮助，谢谢。

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
roborts_bringup: Cannot locate rosdep definition for [roborts_tf]