| 1 |
/ |
"Received cancellation mission!!" |
收到了取消任务指令 |
| 2 |
/ |
"New Goal Received!! " |
收到新的普通导航点 |
| 3 |
/ |
"New Direct Line Goal Received!! " |
收到新的直线导航点 |
| 4 |
/ |
"Can't find path!! " |
普通导航无法规划出可行路径 |
| 5 |
/ |
"Goal reached!" |
到达目标点 |
| 6 |
/ |
"Force turning!" |
普通导航目标点在后方，强制转向 |
| 7 |
/ |
"planner_status is xxx" |
当前状态码为xxx，具体状态码含义请直接在本表格搜索数字 |
| 8 |
/ |
"(LP) A valid velocity command of (vx, vy, yaw) was found for this cycle." |
普通导航规划输出速度 |
| 9 |
/ |
"(DL) A valid velocity command of (vx, vy, yaw) was found for this cycle." |
直线导航规划输出速度 |
| 10 |
/ |
“Stop Count is n.” |
停障计数，上一帧停障，下一帧未检测到障碍物，停障计数+1，计数=15时解除停障 |
| 11 |
/ |
"Collision caused by turning!" |
转弯停障 |
| 12 |
/ |
"Collision detected!" |
直线导航直线停障，或者侧移停障 |
| 13 |
/ |
"No Plan!!!" |
直线导航无法到达目标点（目标点离障碍物过近） |
| 14 |
/ |
"Goal changed!" |
触发了优化到点功能 |
| 15 |
/ |
"calculation time: xx " |
本次计算时间超过了设定的100ms，打印计算时间 |
| 16 |
/ |
"first goal is 1/0, second goal is 1/0" |
优化到点功能，是否新增第一个变换的目标点和第二个变换的目标点 |
| 17 |
/ |
"No PointCloud Data Received!! " |
没有点云数据 |
| 18 |
/ |
"No Odom Data!! " |
没有定位数据 |
| 19 |
状态码 |
999 |
空闲，未收到目标点，或者到点状态 |
| 20 |
状态码 |
1000 |
导航收到点 |
| 21 |
状态码 |
1001 |
普通导航正常输出速度 |
| 22 |
状态码 |
1002 |
普通导航转弯停障 |
| 23 |
状态码 |
1101 |
普通导航规划不出可行路径 |
| 24 |
状态码 |
2001 |
直线导航转向目标点阶段 |
| 25 |
状态码 |
2002 |
直线导航直线靠近目标点阶段 |
| 26 |
状态码 |
2003 |
直线导航到点转向调整阶段 |
| 27 |
状态码 |
2004 |
直线导航转弯停障 |
| 28 |
状态码 |
2005 |
直线导航直线停障，或者侧移停障 |
| 29 |
状态码 |
2006 |
直线导航无法到达目标点 |
| 30 |
状态码 |
2007 |
直线导航转换了目标点，处于侧移到第一个目标点阶段 |
| 31 |
状态码 |
2008 |
直线导航转换了目标点，处于第一个转向阶段 |
| 32 |
状态码 |
2009 |
直线导航转换了目标点，处于直行到第二个目标点阶段 |
| 33 |
状态码 |
2010 |
直线导航转换了目标点，处于第二个转向阶段 |
| 34 |
状态码 |
2011 |
直线导航转换了目标点，处于侧移到第三个目标点阶段 |
| 35 |
状态码 |
2012 |
直线导航转换了目标点，处于到终点调整阶段 |
| 36 |
error |
("move_base cannot make a plan for you because it could not get the ""start pose of the robot"); |
原因：得不到机器人的初始位置，1、没有定位进程2、机器人初始位置在障碍物里面（定位飘了） |
| 37 |
|
"No PointCloud Data Received!! " |
原因：没有点云数据 |
| 38 |
error |
"( |
|
| 1.0, ""No Transform available Error looking up robot pose: %s\n"", |
|
|
|
| ex.what());" |
原因：检测不到tf进程 |
|
|
| 39 |
|
"No Odom Data!! " |
原因：没有定位数据 |
| 40 |
error |
"(1.0, ""Connectivity Error looking up robot pose: %s\n"", |
|
| ex.what()); |
|
|
|
| logger.error(1.0, ""Extrapolation Error looking up robot pose: %s\n"", |
|
|
|
| ex.what());" |
原因：tf有问题导致机器人坐标无法转换 |
|
|
| 41 |
warn |
"(1.0, |
|
| ""Transform timeout for %s. "" |
|
|
|
| ""Current time: %.4f, pose stamp: %.4f, tolerance: %.4f"", |
|
|
|
| costmap->getName().c_str(), current_time.toSec(), |
|
|
|
| global_pose.header.stamp.toSec(), |
|
|
|
| costmap->getTransformTolerance());" |
原因：tf转化时间超时 |
|
|
| 42 |
warn |
("Collision detected!"); |
原因：检测到障碍物 |
| 43 |
warn |
("LocalPlanner: trajectory is not feasible"); |
原因：目前规划出来的路线不可行，可以理解为规划不出来路径 |
| 44 |
info |
("direct_line motion_stage: %d" ,motion_stage); |
原因：直线导航处于什么状态 1转向向下一个点2直线靠近3到点之后调整角度到设定角度4到点精调 |
| 45 |
error |
"( |
|
| ""The goal pose passed to this planner must be in the %s frame. It is "" |
|
|
|
| ""instead in the %s frame."", |
|
|
|
| global_frame.c_str(), goal.header.frame_id.c_str());" |
原因：给的坐标点不在map坐标系内，请注意是坐标系 |
|
|
| 46 |
error |
"( |
|
| ""The start pose passed to this planner must be in the %s frame. It is "" |
|
|
|
| ""instead in the %s frame."", |
|
|
|
| global_frame.c_str(), start.header.frame_id.c_str());" |
原因：机器人当前的位置不在map坐标系以内 |
|
|
| 47 |
warn |
"( |
|
| ""The robot's start position is off the global costmap. Planning will "" |
|
|
|
| ""always fail, are you sure the robot has been properly localized?"");" |
原因：机器人当前位置在地图以外，一般为狗在地图外或定位飘到地图外 |
|
|
| 48 |
warn |
(1.0, "Goal is off the global costmap"); |
原因：目标点在地图外 |
| 49 |
|
"New Goal Received!! " |
原因：收到了新的普通导航点 |
| 50 |
error |
("Planner costmap ROS is NULL, unable to create global plan"); |
Pcd地图缺失 |
| 51 |
error |
("GlobalPlanner: Failed to get a plan"); |
原因：全局规划不出来，普通导航计算路线上有障碍物 |
| 52 |
error |
("NO PATH!"); |
原因：全局规划不出来，普通导航计算路线上有障碍物 |
| 53 |
|
"New Direct Line Goal Received!! " |
原因：收到了新的直线导航点 |
| 54 |
warn |
("Failed to transform the goal pose from %s into the %s frame: %s",goal_pose.header.frame_id.c_str(), global_frame.c_str(),ex.what()); |
原因：不能正常进行机器人位姿转换，一般为tf缺失或者错误 |
| 55 |
|
"Can't find path!! " |
原因：普通导航找不到可行路径 |
| 56 |
warn |
"( |
|
| ""Control loop missed its desired rate of %.4fHz... the loop actually "" |
|
|
|
| ""took %.4f seconds"", |
|
|
|
| controller_frequency_, r.cycleTime().toSec());" |
原因：计算频率不足，实际计算时间高于导航预设时间，会在障碍物比较复杂的时候报，一般不影响正常使用 |
|
|
| 57 |
|
"Goal reached!" |
原因：到点 |
| 58 |
warn |
("Get MoveBaseDirectLine Request!"); |
收到直线导航点 |
| 59 |
|
"Collision caused by turning!" |
原因：转弯停障 |
| 60 |
warn |
"( |
|
| ""[%s]:Sensor data is out of date, we're not going to allow commanding "" |
|
|
|
| ""of the base for safety"", |
|
|
|
| ros::this_node::getName().c_str());" |
原因：没有传感器数据，雷达点云数据等 |
|
|
| 61 |
|
"""(LP) A valid velocity command of (%.2f, %.2f, %.2f) was found for "" |
|
| ""this cycle.""" |
原因：普通导航输出速度，对应x、y、yaw |
|
|
| 62 |
info |
("The local planner could not find a valid plan."); |
原因：局部规划失败，普通导航时规划不出可行路径 |
| 63 |
|
"(DL) A valid velocity command of (%.2f, %.2f, %.2f) was found for ""this cycle." |
原因：直线导航输出速度，对应x、y、yaw |
| 64 |
|
warn("Move base preempting the current goal"); |
原因：直线导航收到了任务取消 |
| 65 |
|
"Collision detected!" |
原因：直线停障 |
| 66 |
warn |
("Got a new plan...swap pointers"); |
原因：在正常规划路线 |
| 67 |
warn |
("Unable to get starting pose of robot, unable to create global plan"); |
原因：得不到机器人的初始位置，1、没有定位进程2、机器人初始位置在障碍物里面（定位飘了） |
| 68 |
error |
("goal coincide with current pose, wrong!!!!!!!"); |
原因：目前点和狗在的点是一个位置 |
| 69 |
|
"Received cancellation mission!!" |
原因：收到了任务取消 |
|
|
|
|