3가지 문의 사항입니다
- omo_r1mini_bringup omo_r1mini_robot.launch 실행시
r1mini@omo:~$ roslaunch omo_r1mini_bringup omo_r1mini_robot.launch
… logging to /home/r1mini/.ros/log/841fa4f0-8a75-11ed-a7b2-144f8aee4aee/roslaunch-omo-15828.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.0.51:37735/
SUMMARY
========
PARAMETERS
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/motor_spec/enc_pulse: 44
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/motor_spec/gear_ratio: 213
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/motor_spec/wheel_base: 0.15
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/motor_spec/wheel_radius: 0.034
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/omo_r1_ydlidar/angle_max: 180.0
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/omo_r1_ydlidar/angle_min: -180.0
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/omo_r1_ydlidar/auto_reconnect: True
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/omo_r1_ydlidar/baudrate: 128000
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/omo_r1_ydlidar/frame_id: base_scan
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/omo_r1_ydlidar/frequency: 8.0
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/omo_r1_ydlidar/low_exposure: False
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/omo_r1_ydlidar/port: /dev/ttyLiDAR
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/omo_r1_ydlidar/range_max: 12.0
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/omo_r1_ydlidar/range_min: 0.1
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/omo_r1_ydlidar/resolution_fixed: True
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/omo_r1_ydlidar/reversion: False
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/omo_r1_ydlidar/samp_rate: 5
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/omo_r1mini_node/baud: 115200
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/omo_r1mini_node/max_ang_vel_z: 2.0
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/omo_r1mini_node/max_lin_vel_x: 1.2
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/omo_r1mini_node/modelName: r1mini
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/omo_r1mini_node/port: /dev/ttyTHS1
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/rosdistro: melodic
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/rosversion: 1.14.13
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/use_imu_during_odom_calc/complementary_filter_coef: 0.5
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/use_imu_during_odom_calc/use_imu: False
NODES
/
omo_r1_ydlidar (ydlidar_ros/ydlidar_node)
omo_r1mini_node (omo_r1mini_bringup/omo_r1mini_node.py)
ROS_MASTER_URI=http://192.168.0.41:11311
process[omo_r1mini_node-1]: started with pid [15837]
ERROR: cannot launch node of type [ydlidar_ros/ydlidar_node]: ydlidar_ros
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/r1mini/catkin_ws/src/darknet_ros/darknet_ros_msgs
ROS path [2]=/home/r1mini/catkin_ws/src/darknet_ros/darknet_ros
ROS path [3]=/home/r1mini/catkin_ws/src/jetson_camera
ROS path [4]=/home/r1mini/catkin_ws/src/omo_r1mini/omo_r1mini
ROS path [5]=/home/r1mini/catkin_ws/src/omo_r1mini/omo_r1mini_ar_marker
ROS path [6]=/home/r1mini/catkin_ws/src/omo_r1mini/omo_r1mini_cartographer
ROS path [7]=/home/r1mini/catkin_ws/src/omo_r1mini/omo_r1mini_description
ROS path [8]=/home/r1mini/catkin_ws/src/omo_r1mini/omo_r1mini_bringup
ROS path [9]=/home/r1mini/catkin_ws/src/omo_r1mini/omo_r1mini_gazebo
ROS path [10]=/home/r1mini/catkin_ws/src/omo_r1mini/omo_r1mini_navigation
ROS path [11]=/home/r1mini/catkin_ws/src/omo_r1mini/omo_r1mini_navigation2
ROS path [12]=/home/r1mini/catkin_ws/src/omo_r1mini/omo_r1mini_simple_position_controller
ROS path [13]=/home/r1mini/catkin_ws/src/omo_r1mini/omo_r1mini_slam
ROS path [14]=/home/r1mini/catkin_ws/src/omo_r1mini/omo_r1mini_teleop
ROS path [15]=/home/r1mini/catkin_ws/src/ydlidar
ROS path [16]=/opt/ros/melodic/share
Model Name:r1mini
[INFO] [1672652532.154437]: Serial port: /dev/ttyTHS1
[INFO] [1672652532.165771]: Serial baud rate: 115200
[INFO] [1672652532.237676]: Robot GEAR ratio: 21.3
[INFO] [1672652532.257723]: Robot wheel_base: 0.15
[INFO] [1672652532.262974]: Robot wheel_radius: 0.034
[INFO] [1672652532.269816]: Robot enc_pulse: 44
[INFO] [1672652532.285454]: Robot distance_per_pulse: 0.000227943128942
[INFO] [1672652532.605636]: ==> Start R1mini
[WARN] [1672652532.951852]: ValueError occupied in parser_R1mini.
발생합니다 lidar 패키지 삭제 후 재 설치 같은 증상 발생 합니다.
2, omo_r1mini_teleop_key 실행시 패키지내의 헤드라이트 작동과 RGB 값의 변경은 작동하나 원격 접속시 나는 알림음과 원격작동은 작동하지 않습니다. 해결 방법이 무엇이있을까요
- 현재 yolo 프로그램 설치하여 사용중입니다 따로 수집한 데이터 셋으로 가중치 파일을 만들어 로봇의 주행에 적용하고 싶은데 정보를 어디서 얻을수 있을까요.