11838 lines
354 KiB
JSON
11838 lines
354 KiB
JSON
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"TF 查询失败 32 次；需要检查 map->odom 和 odom frame。"
|
|
],
|
|
"events": {
|
|
"goals": [
|
|
{
|
|
"elapsed_sec": 6.213075014999049,
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|
"frame_id": "map",
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|
"x": 1.5,
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|
"y": 1.5,
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|
"yaw": 0.0
|
|
}
|
|
],
|
|
"plans": [
|
|
{
|
|
"frame_id": "map",
|
|
"points": 137,
|
|
"length": 4.07913615550667,
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|
"start": {
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|
"x": 4.319061520579429,
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"y": 3.072882370192417,
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"yaw": -1.0339183514211503
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},
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|
"end": {
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|
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"yaw": -0.07391835142115022
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|
},
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|
"reverse_segment_fraction": 0.08823529411764706,
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|
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|
}
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|
],
|
|
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|
{
|
|
"elapsed_sec": 13.738051686999825,
|
|
"data": "goal_received map=(1.500,1.500,0.000)"
|
|
},
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|
{
|
|
"elapsed_sec": 13.743705893999504,
|
|
"data": "plan_start start=(4.319,3.073,-1.034) goal=(1.500,1.500,0.000) obstacles=0 resolution=0.100 yaw_bins=36 timeout_ms=1500.000 grid_heuristic=true heuristic_weight=1.350 yaw_heuristic_weight=1.000 goal_yaw_tolerance=0.175"
|
|
},
|
|
{
|
|
"elapsed_sec": 13.911960823999834,
|
|
"data": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
|
|
"parsed_plan_ok": {
|
|
"points": 137,
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|
"iterations": 1112,
|
|
"planning_ms": 121.587,
|
|
"goal_error": 0.109,
|
|
"yaw_error": 0.074
|
|
}
|
|
}
|
|
],
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|
"tracker_status": [
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|
{
|
|
"elapsed_sec": 4.289726219998556,
|
|
"data": "ready graph_nodes=0 graph_edges=0 motion_enabled=True"
|
|
},
|
|
{
|
|
"elapsed_sec": 5.287483195999812,
|
|
"data": "stop no_recent_odom"
|
|
},
|
|
{
|
|
"elapsed_sec": 5.552909572999852,
|
|
"data": "stop no_recent_odom"
|
|
},
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|
{
|
|
"elapsed_sec": 5.562989195999762,
|
|
"data": "stop no_recent_odom"
|
|
},
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|
{
|
|
"elapsed_sec": 5.851492652998786,
|
|
"data": "stop no_recent_odom"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.214493430999937,
|
|
"data": "stop no_recent_odom"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.222986429998855,
|
|
"data": "stop no_recent_odom"
|
|
},
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|
{
|
|
"elapsed_sec": 6.2369380529999034,
|
|
"data": "stop no_recent_odom"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.246518551999543,
|
|
"data": "stop no_recent_odom"
|
|
},
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|
{
|
|
"elapsed_sec": 6.337326162998579,
|
|
"data": "stop no_recent_odom"
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|
},
|
|
{
|
|
"elapsed_sec": 13.918720739999117,
|
|
"data": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
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|
}
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|
]
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|
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