[FlexBE] FlexBE navigation 공부하기(feat. CHRISLab github)

Installation and Setup

Package Install

sudo apt-get install python3-rosinstallpython3-rosdep python3-wstool -y

 

기존에 워크스페이스랑 같은 위치에서 새로운 워크스페이스를 만들어야한다.

cd ~
mkdir CHRISLab
cd CHRISLab

 

git clone

git clone -b noetic-devel https://github.com/CNURobotics/chris_install.git .

 

Run the install script

./install.sh

source ~/CHRISLab/setup.bash

 

Move Directory

 

Run install script ( turtlebot )

 ./install_chris_turtlebot.sh

 

Move Directory

cd ~/CHRISLab/external/sbpl
mkdir build
cd build
cmake ..
make
sudo make install

 

Build our System

cd /CHRISLab

catkin build

source setup.bash

---

Operation

terminal 1

roslaunch chris_world_models gazebo_simple_creech_world.launch

 

terminal 2

roslaunch chris_turtlebot_bringup chris_turtlebot_gazebo.launch

 

 

Start Localization

roslaunch chris_turtlebot_navigation fake_creech_sim.launch

[ERROR]

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame turtlebot_tf/odom at time 1414.684000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame turtlebot_tf/odom at time 1414.692000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame turtlebot_tf/base_footprint at time 1413.694000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame turtlebot_tf/base_footprint at time 1413.701000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame turtlebot_tf/odom at time 1414.694000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame turtlebot_tf/odom at time 1414.701000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame turtlebot_tf/base_footprint at time 1414.563000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame turtlebot_tf/odom at time 1415.563000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame turtlebot_tf/base_footprint at time 1414.603000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame turtlebot_tf/odom at time 1415.603000 according to authority unknown_publisher

 

 

ing

해결 방법 아시는 분 댓글 부탁드립니다.