TEB算法-debug

a. 编译bug记录

下面记录我在学习整个项目时遇到的bug问题。学习的项目不是原本的teb官方算法,而是另一位作者的非ROS实现。GitHub:https://github.com/linyicheng1/teb_local_planner

无法匹配到函数

我并没有完全编译好整个项目,因为我编译了16年的g2o,然后再编译项目作者的代码,还是不能通过。

原因分析:大概是g2o已经更改了一些函数的接口,上网看了下出现的原因,也确实是因为g2o为了安全原因,改了一些函数。https://github.com/RainerKuemmerle/g2o/issues/206

依旧有以下bug:不能找到对应的函数。

解决办法:修改相应的参数,进行类型转换。

  1. src/optimal_planner.cpp:121:118

    /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/optimal_planner.cpp:121:118: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(std::remove_reference<std::unique_ptr<g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> > >&>::type)’
             g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(std::move(block_solver));
             
    # 下面是提示出错的原因
    In file included from /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/../inc/optimal_planner.h:21:0,
                     from /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/optimal_planner.cpp:1:
    /usr/local/include/g2o/core/optimization_algorithm_levenberg.h:45:16: note: candidate: g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::Solver*)
           explicit OptimizationAlgorithmLevenberg(Solver* solver);
    /usr/local/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> > >&>::type {aka std::unique_ptr<g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> > >}’ to ‘g2o::Solver*’
    
  2. src/optimal_planner.cpp:120:97

    /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/optimal_planner.cpp:120:97: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(std::remove_reference<std::unique_ptr<g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1> > >&>::type)’
             std::unique_ptr<TEBBlockSolver> block_solver(new TEBBlockSolver(std::move(linear_solver)));
             
    # 下面是提示出错的原因
    In file included from /usr/local/include/g2o/core/block_solver.h:189:0,
                     from /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/../inc/optimal_planner.h:18,
                     from /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/optimal_planner.cpp:1:
    /usr/local/include/g2o/core/block_solver.hpp:39:1: note: candidate: g2o::BlockSolver<Traits>::BlockSolver(g2o::BlockSolver<Traits>::LinearSolverType*) [with Traits = g2o::BlockSolverTraits<-1, -1>; g2o::BlockSolver<Traits>::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >]
     BlockSolver<Traits>::BlockSolver(LinearSolverType* linearSolver) :
     ^~~~~~~~~~~~~~~~~~~
    /usr/local/include/g2o/core/block_solver.hpp:39:1: note:   no known conversion for argument 1 from ‘std::remove_reference<std::unique_ptr<g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1> > >&>::type {aka std::unique_ptr<g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1> > >}’ to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::LinearSolverType* {aka g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >*}
  3. src/optimal_planner.cpp:84行-103行:其中一个例子

    /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/optimal_planner.cpp:103:120: error: no matching function for call to ‘g2o::Factory::registerType(const char [19], std::shared_ptr<g2o::HyperGraphElementCreator<teb_local_planner::EdgePreferRotDir> >)’
             factory->registerType("EDGE_PREFER_ROTDIR", std::make_shared<g2o::HyperGraphElementCreator<EdgePreferRotDir>>());
    
    # 下面为提示出错的原因
    In file included from /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/../inc/optimal_planner.h:19:0,
                     from /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/optimal_planner.cpp:1:
    /usr/local/include/g2o/core/factory.h:62:12: note: candidate: void g2o::Factory::registerType(const string&, g2o::AbstractHyperGraphElementCreator*)
           void registerType(const std::string& tag, AbstractHyperGraphElementCreator* c);
                ^~~~~~~~~~~~
    /usr/local/include/g2o/core/factory.h:62:12: note:   no known conversion for argument 2 from ‘std::shared_ptr<g2o::HyperGraphElementCreator<teb_local_planner::EdgePreferRotDir> >’ to ‘g2o::AbstractHyperGraphElementCreator*’
    /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/optimal_planner.cpp: In member function ‘boost::shared_ptr<g2o::SparseOptimizer> teb_local_planner::TebOptimalPlanner::initOptimizer()’:
    

解决办法

  1. 对于以下报错,需要通过检查CMakeList.txt中的依赖,和官网上写的依赖,确定无误后,需要删除以前安装的g2o,再编译,再安装。删除脚本放在报错下面。

    # 报错1:
    /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/optimal_planner.cpp:121:118: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(std::remove_reference<std::unique_ptr<g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> > >&>::type)’
             g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(std::move(block_solver));
    
    # 报错2:
    /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/optimal_planner.cpp:120:97: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(std::remove_reference<std::unique_ptr<g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1> > >&>::type)’
             std::unique_ptr<TEBBlockSolver> block_solver(new TEBBlockSolver(std::move(linear_solver)));
    

    删除脚本:

    sudo rm -rf /usr/local/include/g2o
    sudo rm /usr/local/lib/libg2o_*.so
    find /usr/local/lib -name "*libg2o*.so" -type f # 查看是否删除干净
    
    sudo rm /usr/local/bin/g2o*
    find /usr/local/bin -name "*g2o*" -type f # 查看是否删除干净
    
  2. 对于以下报错,需要修改源代码,即可解决

    /home/cislc2019/code/loyer/navigation-LidarAndVisual/teb_local_planner/src/optimal_planner.cpp:103:120: error: no matching function for call to ‘g2o::Factory::registerType(const char [19], std::shared_ptr<g2o::HyperGraphElementCreator<teb_local_planner::EdgePreferRotDir> >)’
             factory->registerType("EDGE_PREFER_ROTDIR", std::make_shared<g2o::HyperGraphElementCreator<EdgePreferRotDir>>());
    

    原本的源代码为:

    factory->registerType("VERTEX_POSE", std::make_shared<g2o::HyperGraphElementCreator<VertexPose>>());
    factory->registerType("VERTEX_TIMEDIFF", std::make_shared<g2o::HyperGraphElementCreator<VertexTimeDiff>>());
    
    factory->registerType("EDGE_TIME_OPTIMAL", std::make_shared<g2o::HyperGraphElementCreator<EdgeTimeOptimal>>());
    factory->registerType("EDGE_SHORTEST_PATH", std::make_shared<g2o::HyperGraphElementCreator<EdgeShortestPath>>());
    factory->registerType("EDGE_VELOCITY", std::make_shared<g2o::HyperGraphElementCreator<EdgeVelocity>>());
    factory->registerType("EDGE_VELOCITY_HOLONOMIC", std::make_shared<g2o::HyperGraphElementCreator<EdgeVelocityHolonomic>>());
    factory->registerType("EDGE_ACCELERATION", std::make_shared<g2o::HyperGraphElementCreator<EdgeAcceleration>>());
    factory->registerType("EDGE_ACCELERATION_START", std::make_shared<g2o::HyperGraphElementCreator<EdgeAccelerationStart>>());
    factory->registerType("EDGE_ACCELERATION_GOAL", std::make_shared<g2o::HyperGraphElementCreator<EdgeAccelerationGoal>>());
    factory->registerType("EDGE_ACCELERATION_HOLONOMIC", std::make_shared<g2o::HyperGraphElementCreator<EdgeAccelerationHolonomic>>());
    factory->registerType("EDGE_ACCELERATION_HOLONOMIC_START", std::make_shared<g2o::HyperGraphElementCreator<EdgeAccelerationHolonomicStart>>());
    factory->registerType("EDGE_ACCELERATION_HOLONOMIC_GOAL", std::make_shared<g2o::HyperGraphElementCreator<EdgeAccelerationHolonomicGoal>>());
    factory->registerType("EDGE_KINEMATICS_DIFF_DRIVE", std::make_shared<g2o::HyperGraphElementCreator<EdgeKinematicsDiffDrive>>());
    factory->registerType("EDGE_KINEMATICS_CARLIKE", std::make_shared<g2o::HyperGraphElementCreator<EdgeKinematicsCarlike>>());
    factory->registerType("EDGE_OBSTACLE", std::make_shared<g2o::HyperGraphElementCreator<EdgeObstacle>>());
    factory->registerType("EDGE_INFLATED_OBSTACLE", std::make_shared<g2o::HyperGraphElementCreator<EdgeInflatedObstacle>>());
    factory->registerType("EDGE_DYNAMIC_OBSTACLE", std::make_shared<g2o::HyperGraphElementCreator<EdgeDynamicObstacle>>());
    factory->registerType("EDGE_VIA_POINT", std::make_shared<g2o::HyperGraphElementCreator<EdgeViaPoint>>());
    factory->registerType("EDGE_PREFER_ROTDIR", std::make_shared<g2o::HyperGraphElementCreator<EdgePreferRotDir>>());
    

    修改为:

    factory->registerType("VERTEX_POSE", new g2o::HyperGraphElementCreator<VertexPose>);
    factory->registerType("VERTEX_TIMEDIFF", new g2o::HyperGraphElementCreator<VertexTimeDiff>);
    
    factory->registerType("EDGE_TIME_OPTIMAL", new g2o::HyperGraphElementCreator<EdgeTimeOptimal>);
    factory->registerType("EDGE_SHORTEST_PATH", new g2o::HyperGraphElementCreator<EdgeShortestPath>);
    factory->registerType("EDGE_VELOCITY", new g2o::HyperGraphElementCreator<EdgeVelocity>);
    factory->registerType("EDGE_VELOCITY_HOLONOMIC", new g2o::HyperGraphElementCreator<EdgeVelocityHolonomic>);
    factory->registerType("EDGE_ACCELERATION", new g2o::HyperGraphElementCreator<EdgeAcceleration>);
    factory->registerType("EDGE_ACCELERATION_START", new g2o::HyperGraphElementCreator<EdgeAccelerationStart>);
    factory->registerType("EDGE_ACCELERATION_GOAL", new g2o::HyperGraphElementCreator<EdgeAccelerationGoal>);
    factory->registerType("EDGE_ACCELERATION_HOLONOMIC", new g2o::HyperGraphElementCreator<EdgeAccelerationHolonomic>);
    factory->registerType("EDGE_ACCELERATION_HOLONOMIC_START", new g2o::HyperGraphElementCreator<EdgeAccelerationHolonomicStart>);
    factory->registerType("EDGE_ACCELERATION_HOLONOMIC_GOAL", new g2o::HyperGraphElementCreator<EdgeAccelerationHolonomicGoal>);
    factory->registerType("EDGE_KINEMATICS_DIFF_DRIVE", new g2o::HyperGraphElementCreator<EdgeKinematicsDiffDrive>);
    factory->registerType("EDGE_KINEMATICS_CARLIKE", new g2o::HyperGraphElementCreator<EdgeKinematicsCarlike>);
    factory->registerType("EDGE_OBSTACLE", new g2o::HyperGraphElementCreator<EdgeObstacle>);
    factory->registerType("EDGE_INFLATED_OBSTACLE", new g2o::HyperGraphElementCreator<EdgeInflatedObstacle>);
    factory->registerType("EDGE_DYNAMIC_OBSTACLE", new g2o::HyperGraphElementCreator<EdgeDynamicObstacle>);
    factory->registerType("EDGE_VIA_POINT", new g2o::HyperGraphElementCreator<EdgeViaPoint>);
    factory->registerType("EDGE_PREFER_ROTDIR", new g2o::HyperGraphElementCreator<EdgePreferRotDir>);
    

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