ros gmapping 运行错误:Assertion 'beams<LASER_MAXBEAMS' failed>
2018-01-02 12:46
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在使用真实激光器发布数据的时候,出现了
Laser is mounted upward警告,
以及slam_gmapping: /tmp/buildd/ros-hydro-openslam-gmapping-0.1.0-2precise-20140617-1746/scanmatcher/scanmatcher.cpp:563: void GMapping::ScanMatcher::setLaserParameters(unsigned int, double*, const OrientedPoint&): Assertion ‘beams LASER_BEAMS>failed.
这个问题主要是因为LASER_BEAMS默认为2048而激光器扫描一周的点数比较多,因此只要将LASER_BEAMS设置大一些就行。
具体在
由于是解决了问题之后才写的这篇文章,文件名和路径名字可能有些差异,只写了个大概
Laser is mounted upward警告,
以及slam_gmapping: /tmp/buildd/ros-hydro-openslam-gmapping-0.1.0-2precise-20140617-1746/scanmatcher/scanmatcher.cpp:563: void GMapping::ScanMatcher::setLaserParameters(unsigned int, double*, const OrientedPoint&): Assertion ‘beams LASER_BEAMS>failed.
这个问题主要是因为LASER_BEAMS默认为2048而激光器扫描一周的点数比较多,因此只要将LASER_BEAMS设置大一些就行。
具体在
openslam_gmapping/include/smatch.h文件中
由于是解决了问题之后才写的这篇文章,文件名和路径名字可能有些差异,只写了个大概
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