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发表于 2024-10-8 15:31:04
304 浏览 1 回复
[新手上路]
复现避障功能时出现问题
prometheus问答
| 提问前请先确定以下问题：: |
是 |
| 第一步：问题BUG描述: |
复现避障功能时出现问题
运行catkin_make --source Modules/ego_planner_swarm --build build/ego_planner_swarm
之后出现Invoking "make -j16 -l16" failed
报错 |
| 第二步：PX4版本是否为Prometheus_PX4_V1.11.1分支？: |
否 其他PX4版本 |
| 第三步：测试prometheus_px4是否正常: |
正常 |
| 第四步：Prometheus版本是否为最新master？: |
是master版本 |
| 第五步：测试Prometheus是否正常: |
正常 |
本帖最后由 wf123 于 2024-10-8 18:14 编辑
复现避障功能时出现问题在执行catkin_make --source Modules/ego_planner_swarm --build build/ego_planner_swarm的时候出现了这个错误
Consolidate compiler generated dependencies of target drone_detect
[ 18%] Building CXX object traj_utils/CMakeFiles/traj_utils.dir/src/polynomial_traj.cpp.o
[ 18%] Built target _traj_utils_generate_messages_check_deps_Bspline
[ 18%] Built target _traj_utils_generate_messages_check_deps_MultiBsplines
[ 18%] Built target _traj_utils_generate_messages_check_deps_DataDisp
[ 24%] Built target drone_detect
[ 32%] Built target traj_utils_generate_messages_py
[ 41%] Built target traj_utils_generate_messages_cpp
[ 45%] Built target traj_utils_generate_messages_eus
[ 50%] Built target traj_utils_generate_messages_lisp
[ 56%] Built target traj_utils_generate_messages_nodejs
[ 56%] Built target traj_utils_generate_messages
In file included from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp:2:
/home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h: In member function ‘double PolynomialTraj::getJerk()’:
/home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h:238:94: error: no match for ‘operator=’ (operand types are ‘Eigen::internal::enable_if<true, Eigen::IndexedView<Eigen::Matrix<double, -1, -1>, double, double> >::type’ {aka ‘Eigen::IndexedView<Eigen::Matrix<double, -1, -1>, double, double>’} and ‘double’)
238 | i * (i - 1) * (i - 2) * j * (j - 1) * (j - 2) * pow(ts, i + j - 5) / (i + j - 5);
| ^
In file included from /usr/include/eigen3/Eigen/Core:19,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h:4,
from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp:2:
/usr/include/eigen3/Eigen/src/Core/IndexedView.h:114:3: note: candidate: ‘Eigen::IndexedView<XprType, RowIndices, ColIndices>& Eigen::IndexedView<XprType, RowIndices, ColIndices>::operator=(const Eigen::IndexedView<XprType, RowIndices, ColIndices>&) [with XprType = Eigen::Matrix<double, -1, -1>; RowIndices = double; ColIndices = double]’
114 | EIGEN_INHERIT_ASSIGNMENT_OPERATORS(IndexedView)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/IndexedView.h:114:3: note: no known conversion for argument 1 from ‘double’ to ‘const Eigen::IndexedView<Eigen::Matrix<double, -1, -1>, double, double>&’
114 | EIGEN_INHERIT_ASSIGNMENT_OPERATORS(IndexedView)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:273,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h:4,
from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp:2:
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:154:14: note: candidate: ‘template<class OtherDerived> Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::ReturnByValue<OtherDerived>&) [with OtherDerived = OtherDerived; Derived = Eigen::IndexedView<Eigen::Matrix<double, -1, -1>, double, double>]’
154 | Derived& operator=(const ReturnByValue<OtherDerived>& other);
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:154:14: note: template argument deduction/substitution failed:
In file included from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp:2:
/home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h:238:94: note: mismatched types ‘const Eigen::ReturnByValue<Derived>’ and ‘double’
238 | i * (i - 1) * (i - 2) * j * (j - 1) * (j - 2) * pow(ts, i + j - 5) / (i + j - 5);
| ^
In file included from /usr/include/eigen3/Eigen/Core:273,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h:4,
from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp:2:
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:150:14: note: candidate: ‘template<class OtherDerived> Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::EigenBase<OtherDerived>&) [with OtherDerived = OtherDerived; Derived = Eigen::IndexedView<Eigen::Matrix<double, -1, -1>, double, double>]’
150 | Derived& operator=(const EigenBase<OtherDerived>& other);
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:150:14: note: template argument deduction/substitution failed:
In file included from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp:2:
/home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h:238:94: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
238 | i * (i - 1) * (i - 2) * j * (j - 1) * (j - 2) * pow(ts, i + j - 5) / (i + j - 5);
| ^
In file included from /usr/include/eigen3/Eigen/Core:273,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h:4,
from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp:2:
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:146:14: note: candidate: ‘template<class OtherDerived> Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = OtherDerived; Derived = Eigen::IndexedView<Eigen::Matrix<double, -1, -1>, double, double>]’
146 | Derived& operator=(const DenseBase<OtherDerived>& other);
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:146:14: note: template argument deduction/substitution failed:
In file included from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp:2:
/home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h:238:94: note: mismatched types ‘const Eigen::DenseBase<Derived>’ and ‘double’
238 | i * (i - 1) * (i - 2) * j * (j - 1) * (j - 2) * pow(ts, i + j - 5) / (i + j - 5);
| ^
In file included from /usr/include/eigen3/Eigen/Core:282,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h:4,
from /home/lenovo/Prometheus/Modules/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp:2:
/usr/include/eigen3/Eigen/src/Core/Assign.h:55:30: note: candidate: ‘Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::MatrixBase<Derived>&) [with Derived = Eigen::IndexedView<Eigen::Matrix<double, -1, -1>, double, double>]’
55 | EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const MatrixBase& other)
| ^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/Assign.h:55:79: note: no known conversion for argument 1 from ‘double’ to ‘const Eigen::MatrixBase<Eigen::IndexedView<Eigen::Matrix<double, -1, -1>, double, double> >&’
55 | EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const MatrixBase& other)
| ~~~~~~~~~~~~~~~~~~^~~~~
make[2]: *** [traj_utils/CMakeFiles/traj_utils.dir/build.make:90：traj_utils/CMakeFiles/traj_utils.dir/src/polynomial_traj.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:2482：traj_utils/CMakeFiles/traj_utils.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
[ 58%] Linking CXX shared library /home/lenovo/Prometheus/devel/lib/libpath_searching.so
[ 58%] Built target path_searching
make: *** [Makefile:146：all] 错误 2
Invoking "make -j16 -l16" failed
这个问题该怎么解决
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