I try to run the code in virtual machine with only CPU. I have read #6, so i used the code in ego-planner.
Here is what i do:
- ENV
Ubuntu 20.04
ROS Noetic
- I copy these files from ego-planner to Elastic-Tracker
src\uav_simulator\local_sensing\src\pcl_render_node.cpp
src\uav_simulator\local_sensing\src\pointcloud_render_node.cpp
- I set ENABLE_CUDA as false
set(ENABLE_CUDA false)
- Follow the steps in README 1. Simulation of Aerial Tracking
Issues:
when i triger the drone, i got warning in picture. And the drone0 won't track the target.
here is the topic list:
/clicked_point /detection_filter_node/without_car_point_cloud /drone0/depth /drone0/gridmap /drone0/gridmap_inflate /drone0/heartbeat /drone0/imu /drone0/manager/bond /drone0/mapping/local_pointcloud /drone0/mapping/mask_cloud /drone0/mapping_vis/vs_gridmap /drone0/mapping_vis/vs_gridmap_inflate /drone0/odom /drone0/odom_visualization/cmd /drone0/odom_visualization/covariance /drone0/odom_visualization/covariance_velocity /drone0/odom_visualization/fov_visual /drone0/odom_visualization/height /drone0/odom_visualization/path /drone0/odom_visualization/pose /drone0/odom_visualization/robot /drone0/odom_visualization/robot_array /drone0/odom_visualization/sensor /drone0/odom_visualization/trajectory /drone0/odom_visualization/velocity /drone0/pcl_render_node/local_map /drone0/planning/check_pts /drone0/planning/debug_pts /drone0/planning/invalid_pts /drone0/planning/polyhedra /drone0/planning/traj /drone0/planning/visible_region /drone0/planning/visible_region_array /drone0/position_cmd /drone0/replanState /drone0/so3cmd /drone0/target_ekf_sim_node/yolo_odom /drone0/trajectory /drone0/vis /drone1/odom_visualization/fov_visual /drone1/odom_visualization/robot /drone1/odom_visualization/robot_array /drone1/planning/traj /global_map /initialpose /land_triger /move_base_simple/goal /odometry/imu_body_incremental /pcl_render_node/cloud /rosout /rosout_agg /target/gridmap_inflate /target/heartbeat /target/imu /target/manager/bond /target/mapping/local_pointcloud /target/mapping/mask_cloud /target/odom /target/odom_visualization/cmd /target/odom_visualization/covariance /target/odom_visualization/covariance_velocity /target/odom_visualization/fov_visual /target/odom_visualization/height /target/odom_visualization/path /target/odom_visualization/pose /target/odom_visualization/robot /target/odom_visualization/robot_array /target/odom_visualization/sensor /target/odom_visualization/trajectory /target/odom_visualization/velocity /target/planning/astar /target/planning/keyPts /target/planning/land_triger /target/planning/polyhedra /target/planning/target /target/planning/traj /target/planning/traj_wayPts /target/position_cmd /target/replanState /target/so3cmd /target/trajectory /target/vis /target_ekf_odom /tf /tf_static /triger
I really appreciate it if you offer some suggestions.
I try to run the code in virtual machine with only CPU. I have read #6, so i used the code in ego-planner.
Here is what i do:
Issues:
when i triger the drone, i got warning in picture. And the drone0 won't track the target.
here is the topic list:
/clicked_point /detection_filter_node/without_car_point_cloud /drone0/depth /drone0/gridmap /drone0/gridmap_inflate /drone0/heartbeat /drone0/imu /drone0/manager/bond /drone0/mapping/local_pointcloud /drone0/mapping/mask_cloud /drone0/mapping_vis/vs_gridmap /drone0/mapping_vis/vs_gridmap_inflate /drone0/odom /drone0/odom_visualization/cmd /drone0/odom_visualization/covariance /drone0/odom_visualization/covariance_velocity /drone0/odom_visualization/fov_visual /drone0/odom_visualization/height /drone0/odom_visualization/path /drone0/odom_visualization/pose /drone0/odom_visualization/robot /drone0/odom_visualization/robot_array /drone0/odom_visualization/sensor /drone0/odom_visualization/trajectory /drone0/odom_visualization/velocity /drone0/pcl_render_node/local_map /drone0/planning/check_pts /drone0/planning/debug_pts /drone0/planning/invalid_pts /drone0/planning/polyhedra /drone0/planning/traj /drone0/planning/visible_region /drone0/planning/visible_region_array /drone0/position_cmd /drone0/replanState /drone0/so3cmd /drone0/target_ekf_sim_node/yolo_odom /drone0/trajectory /drone0/vis /drone1/odom_visualization/fov_visual /drone1/odom_visualization/robot /drone1/odom_visualization/robot_array /drone1/planning/traj /global_map /initialpose /land_triger /move_base_simple/goal /odometry/imu_body_incremental /pcl_render_node/cloud /rosout /rosout_agg /target/gridmap_inflate /target/heartbeat /target/imu /target/manager/bond /target/mapping/local_pointcloud /target/mapping/mask_cloud /target/odom /target/odom_visualization/cmd /target/odom_visualization/covariance /target/odom_visualization/covariance_velocity /target/odom_visualization/fov_visual /target/odom_visualization/height /target/odom_visualization/path /target/odom_visualization/pose /target/odom_visualization/robot /target/odom_visualization/robot_array /target/odom_visualization/sensor /target/odom_visualization/trajectory /target/odom_visualization/velocity /target/planning/astar /target/planning/keyPts /target/planning/land_triger /target/planning/polyhedra /target/planning/target /target/planning/traj /target/planning/traj_wayPts /target/position_cmd /target/replanState /target/so3cmd /target/trajectory /target/vis /target_ekf_odom /tf /tf_static /trigerI really appreciate it if you offer some suggestions.