The global status error

[geonhee-lee]

The global status error

[Geonhee-LEE]

Hello @chanzw, Thanks for interesting.
Did you install the map_server?
I guess it is the TF problem between map and odom.

[chanzw]

Hello @chanzw, Thanks for interesting.
Did you install the map_server?
I guess it is the TF problem between map and odom.

I have installed it. But it still has the same error.

[Geonhee-LEE]

Please write your frame and load the map exactly .

[chanzw]

Please write your frame and load the map exactly .
OK! I try it.Thank you.

[chanzw]

I can't solve it
It always has a WARN

[ WARN] [1599573109.833110525, 98.097000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_link does not exist.. canTransform returned after 98.095 timeout was 0.1.

And the RobotModel Status is error

[Geonhee-LEE]

Hello, would you check the tf tree using 'rosrun rqt_tf_tree rqt_tf_tree' command on terminal?
Because the tf structure has problem. And I wonder whether you has the robot model such as servingbot or not.

[chanzw]

Hello, would you check the tf tree using 'rosrun rqt_tf_tree rqt_tf_tree' command on terminal?
Because the tf structure has problem. And I wonder whether you has the robot model such as servingbot or not.

Yes, I have checked it already.But it shows like that.Is it right?

And the rviz like this

I has download the servingbot model,when I catkin_make it ,it shows a error about simple_speech,I don't think it is the main reason,so I have delete the include "#include <simple_speech/script.h>".

And I have a husky robot.

[Geonhee-LEE]

Hello.
You need to publish odom frame and connect between odom and map frame.

[chanzw]

Hello.
You need to publish odom frame and connect between odom and map frame.

OK!Thank you very much.

[chanzw]

Hello,I want to know the references for this NMPC,thanks!

[Geonhee-LEE]

Hello, I strongly referred to https://github.com/Hypha-ROS/hypharos_minicar. But it is based on Ackermann model 2020년 9월 9일 (수) 오후 4:49, chanzw <[email protected]>님이 작성:

…

Hello,I want to know the references for this NMPC,thanks! — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#5 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AC725Y3SBDP7BI3PDZ3HLFDSE4XSNANCNFSM4Q6GCCGQ> .

-- =============================================== Geonhee Lee Graduate student Department of Mechanical System Design Engineering Seoul National University of Science & Technology 232 Gongneung-ro, Nowon-gu <https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g> SEOUL, KOREA <https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g> (01811) E-mail : [email protected] Homepage : https://geonhee-lee.github.io/geon.github.io/ GitHub: https://github.com/Geonhee-LEE Tel(Cell phone): ([phone]

[chanzw]

hello,When I set 2D Nav Goal,it will show that mpc_ref_path "Message contained invalid floating point values (nans or infs)" in rviz.AND in the terminal , it shows
[ INFO] [1600048363.795110728, 1461.510000000]: Goal Received :goalCB!
coeffs : -nan
pow : 1
cte : -nan
etheta: 0, atan2(gy,gx): -0.94423, temp_theta:-0.94423
x_err:2.11219, y_err:-2.82514

cost_cte, etheta, velocity: -nan, 0, 2000
cost of actuators: -nan
cost of gap: -nan

---

This program contains Ipopt, a library for large-scale nonlinear optimization.
Ipopt is released as open source code under the Eclipse Public License (EPL).
For more information visit http://projects.coin-or.org/Ipopt

---

cppad-20180000.0 error from a known source:
yq = f.Forward(q, xq): a zero order Taylor coefficient is nan.
Corresponding independent variables vector was written to binary a file.
vector_size = 158
file_name = /tmp/fileGwXM0y
index = 0

Error detected by false result for
if( CppAD::isnan( yq[ (q+1) * index + 0 ] )
at line 231 in the file
/home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/core/forward.hpp
nav_mpc: /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char*, const char*, const char*): Assertion `false' failed.
[nav_mpc-2] process has died [pid 16401, exit code -6, cmd /home/czw/husky_ws/devel/lib/mpc_ros/nav_mpc __name:=nav_mpc __log:=/home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2.log].
log file: /home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2*.log

[Geonhee-LEE]

I think that is associated with IpOpt lib problem. Did you install the IpOpt with right version? 2020년 9월 14일 (월) 오전 11:03, chanzw <[email protected]>님이 작성:

…

hello,When I set 2D Nav Goal,it will show that mpc_ref_path "Message contained invalid floating point values (nans or infs)" in rviz.AND in the terminal , it shows [ INFO] [1600048363.795110728, 1461.510000000]: Goal Received :goalCB! coeffs : -nan pow : 1 cte : -nan etheta: 0, atan2(gy,gx): -0.94423, temp_theta:-0.94423 x_err:2.11219, y_err:-2.82514 cost_cte, etheta, velocity: -nan, 0, 2000 cost of actuators: -nan cost of gap: -nan ------------------------------ This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit http://projects.coin-or.org/Ipopt ------------------------------ cppad-20180000.0 error from a known source: yq = f.Forward(q, xq): a zero order Taylor coefficient is nan. Corresponding independent variables vector was written to binary a file. vector_size = 158 file_name = /tmp/fileGwXM0y index = 0 Error detected by false result for if( CppAD::isnan( yq[ (q+1) * index + 0 ] ) at line 231 in the file /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/core/forward.hpp nav_mpc: /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char*, const char*, const char*): Assertion `false' failed. [nav_mpc-2] process has died [pid 16401, exit code -6, cmd /home/czw/husky_ws/devel/lib/mpc_ros/nav_mpc __name:=nav_mpc __log:=/home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2.log]. log file: /home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2*.log — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#5 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AC725Y6JPDBKCJ243ASNPMLSFV2YDANCNFSM4Q6GCCGQ> .

-- =============================================== Geonhee Lee Graduate student Department of Mechanical System Design Engineering Seoul National University of Science & Technology 232 Gongneung-ro, Nowon-gu <https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g> SEOUL, KOREA <https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g> (01811) E-mail : [email protected] Homepage : https://geonhee-lee.github.io/geon.github.io/ GitHub: https://github.com/Geonhee-LEE Tel(Cell phone): ([phone]

[chanzw]

I think that is associated with IpOpt lib problem. Did you install the IpOpt with right version? 2020년 9월 14일 (월) 오전 11:03, chanzw [email protected]님이 작성:
…
hello,When I set 2D Nav Goal,it will show that mpc_ref_path "Message contained invalid floating point values (nans or infs)" in rviz.AND in the terminal , it shows [ INFO] [1600048363.795110728, 1461.510000000]: Goal Received :goalCB! coeffs : -nan pow : 1 cte : -nan etheta: 0, atan2(gy,gx): -0.94423, temp_theta:-0.94423 x_err:2.11219, y_err:-2.82514 cost_cte, etheta, velocity: -nan, 0, 2000 cost of actuators: -nan cost of gap: -nan ------------------------------ This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit http://projects.coin-or.org/Ipopt ------------------------------ cppad-20180000.0 error from a known source: yq = f.Forward(q, xq): a zero order Taylor coefficient is nan. Corresponding independent variables vector was written to binary a file. vector_size = 158 file_name = /tmp/fileGwXM0y index = 0 Error detected by false result for if( CppAD::isnan( yq[ (q+1) * index + 0 ] ) at line 231 in the file /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/core/forward.hpp nav_mpc: /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char*, const char*, const char*): Assertion `false' failed. [nav_mpc-2] process has died [pid 16401, exit code -6, cmd /home/czw/husky_ws/devel/lib/mpc_ros/nav_mpc __name:=nav_mpc __log:=/home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2.log]. log file: /home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2*.log — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#5 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/AC725Y6JPDBKCJ243ASNPMLSFV2YDANCNFSM4Q6GCCGQ .
-- =============================================== Geonhee Lee Graduate student Department of Mechanical System Design Engineering Seoul National University of Science & Technology 232 Gongneung-ro, Nowon-gu https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g SEOUL, KOREA https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g (01811) E-mail : [email protected] Homepage : https://geonhee-lee.github.io/geon.github.io/ GitHub: https://github.com/Geonhee-LEE Tel(Cell phone): ([phone]

I have installed the Ipopt 3.12.7

[chanzw]

I think that is associated with IpOpt lib problem. Did you install the IpOpt with right version? 2020년 9월 14일 (월) 오전 11:03, chanzw [email protected]님이 작성:
…
hello,When I set 2D Nav Goal,it will show that mpc_ref_path "Message contained invalid floating point values (nans or infs)" in rviz.AND in the terminal , it shows [ INFO] [1600048363.795110728, 1461.510000000]: Goal Received :goalCB! coeffs : -nan pow : 1 cte : -nan etheta: 0, atan2(gy,gx): -0.94423, temp_theta:-0.94423 x_err:2.11219, y_err:-2.82514 cost_cte, etheta, velocity: -nan, 0, 2000 cost of actuators: -nan cost of gap: -nan ------------------------------ This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit http://projects.coin-or.org/Ipopt ------------------------------ cppad-20180000.0 error from a known source: yq = f.Forward(q, xq): a zero order Taylor coefficient is nan. Corresponding independent variables vector was written to binary a file. vector_size = 158 file_name = /tmp/fileGwXM0y index = 0 Error detected by false result for if( CppAD::isnan( yq[ (q+1) * index + 0 ] ) at line 231 in the file /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/core/forward.hpp nav_mpc: /home/czw/husky_ws/src/mpc_ros/mpc_ros/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char*, const char*, const char*): Assertion `false' failed. [nav_mpc-2] process has died [pid 16401, exit code -6, cmd /home/czw/husky_ws/devel/lib/mpc_ros/nav_mpc __name:=nav_mpc __log:=/home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2.log]. log file: /home/czw/.ros/log/97b3b054-f62c-11ea-b2f4-9cd21efd7405/nav_mpc-2*.log — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#5 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/AC725Y6JPDBKCJ243ASNPMLSFV2YDANCNFSM4Q6GCCGQ .
-- =============================================== Geonhee Lee Graduate student Department of Mechanical System Design Engineering Seoul National University of Science & Technology 232 Gongneung-ro, Nowon-gu https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g SEOUL, KOREA https://maps.google.com/?q=232+Gongneung-ro,+Nowon-gu+SEOUL,+KOREA&entry=gmail&source=g (01811) E-mail : [email protected] Homepage : https://geonhee-lee.github.io/geon.github.io/ GitHub: https://github.com/Geonhee-LEE Tel(Cell phone): ([phone]

Could you share your Ipopt lib with me? My e-mail is [email protected] you!

[Geonhee-LEE]

@chanzw Hello, I installed the Ipopt through https://github.com/Geonhee-LEE/mpc_ros/blob/melodic/assets/document/ipopt_install/ipopt_x86_install_tutorial.md.