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1.问题For frame [velodyne]: No transform to fixed frame [world]. TF error: [Could not find a connection between 'world' and 'velodyne' because they are not part of the same tree.Tf has two or more unconnected trees.]
2021.11.22
完成配置can卡
2.可以添加激光雷达的聚类，并且画盒子表示
3.问题是current lane doesn't have change flag 节点是lane_select
Necessary topics are not subscribed yet ... 节点是pure_pursuit
4.发一个节点让can发送消息：rostopic pub -r 20 /Control_acc std_msgs/Float64 "data: 0.1"
5.steering_robot_有一个节点在哪？
6.128线激光雷达、将128线激光雷达加入qt界面中,将激光雷达加到autoware中，注意将launch文件改回log
7.修改qt界面中的配置文件在/home/navigation/autoware.ai/install/runtime_manager/lib/runtime_manager
8.单独编译一个节点AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select pure_pursuit
9.如果要改寻迹点的速度，需要修改以下：
<arg name="const_velocity" default="5.0"/>
private_nh_.param("const_velocity", const_velocity_, 5.0);
10.semantics/costmap_generator/occupancy_grid 安装成功
11.改激光雷达的rslidar为velodyne、加视觉感知
12.
适配速腾激光雷达：要下载rslidar_sdk，修改config中的config.yaml的frame_id为velodyne,再<remap from="rslidar_points" to="/points_raw" />
13.融合
range_vision_fusion.launch
问题：相机没有标定
14.节点waypoint_loader注释
15.打开ring_ground_filter和ray_ground_filter后会出现错误
[ WARN] [1640874586.661332263]: Lookup would require extrapolation into the past. Requested time 1640874461.921009664 but the earliest data is at time 1640874576.669836191, when looking up transform from frame [velodyne] to frame [base_link]
[ERROR] [1640874622.966605713]: Failed transform from base_link to velodyne
打开voxel_grid_filter后出现错误：
Failed to find match for field 'intensity'.
[ WARN] [1640876153.420807323]: Cannot get closest waypoints. All closest waypoints are changed to -1...
[ INFO] [1640876270.511634298]: Found GOAL at index = 298
[ INFO] [1640876270.517372378]: PLANNING -> AVOIDING, Found path
avoiding
[ INFO] [1640876270.310769791]: AVOIDING -> STOPPING, Abort avoiding
[ INFO] [1640876270.411066248]: STOPPING -> PLANNING, Start A* planning
planning
错误：
Error: out of memory /home/navigation/autoware.ai/src/autoware/core_perception/ndt_gpu/src/SymmetricEigenSolver.cu 13
Error: driver shutting down /home/navigation/autoware.ai/src/autoware/core_perception/ndt_gpu/src/MatrixDevice.cu 30
[ndt_mapping-2] process has died [pid 23726, exit code 1, cmd /home/navigation/autoware.ai/install/lidar_localizer/lib/lidar_localizer/ndt_mapping __name:=ndt_mapping __log:=/home/navigation/.ros/log/93ca424c-6fba-11ec-b1fd-78d00426050d/ndt_mapping-2.log].
log file: /home/navigation/.ros/log/93ca424c-6fba-11ec-b1fd-78d00426050d/ndt_mapping-2*.log
16.最重要的发现！！！
vehicle_cmd包含所有的控制消息，包含四元数，线速度，加速度，转角
17.有关上车实践方面，需要加上twist_filter，在其中发出话题ctrl_cmd注意怎么用
18.roslaunch autoware_camera_lidar_calibrator camera_lidar_calibration.launch intrinsics_file:=/home/ne0/Desktop/calib_heat_camera1_rear_center_fisheye.yaml compressed_stream:=True camera_id:=camera1
标定的命令
19.有关停车的命令
要将pure_pusuit设置为跟踪路径点的速度，velocity_set中设置为points_raw
20.velocity_Set启动的是velocity_set_option.launch
21.my_detection.launch 中points_node节点为points_no_ground
安装autoware 1.14的教程：
https://www.cnblogs.com/hgl0417/p/14617025.html
https://gitlab.com/autowarefoundation/autoware.ai/autoware/-/wikis/Source-Build
关于避障astar_avoid的网站：
https://zhuanlan.zhihu.com/p/163844578
https://blog.csdn.net/xiaoxiao123jun/article/details/111089307
关于适配速腾激光雷达：
https://blog.csdn.net/yz2630570484/article/details/114232333
关于融合：
https://blog.csdn.net/muyiyushan/article/details/119760428