lixing@lixing:~/1/Fast-LIO2$ bash ./run_ego_planner.sh
[START] Ego_Planner_Swarm_V1
Drone 0 autonomous run in max_vel 1.0 max_acc:=1.0
… logging to /home/lixing/.ros/log/073dfb40-8314-11f0-8ffb-0145177117b2/roslaunch-lixing-16746.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/lixing/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
started roslaunch server http://lixing:43545/
SUMMARY
========
PARAMETERS
* /ego_planner_node/bspline/limit_acc: 0.5
* /ego_planner_node/bspline/limit_ratio: 1.1
* /ego_planner_node/bspline/limit_vel: 0.3
* /ego_planner_node/fsm/emergency_time_: 1.0
* /ego_planner_node/fsm/flight_type: 1
* /ego_planner_node/fsm/planning_horizen_time: 3.0
* /ego_planner_node/fsm/planning_horizon: 7.5
* /ego_planner_node/fsm/thresh_no_replan: 2.0
* /ego_planner_node/fsm/thresh_replan: 1.5
* /ego_planner_node/fsm/waypoint0_x: -15.0
* /ego_planner_node/fsm/waypoint0_y: 0.0
* /ego_planner_node/fsm/waypoint0_z: 1.0
* /ego_planner_node/fsm/waypoint1_x: 0.0
* /ego_planner_node/fsm/waypoint1_y: 15.0
* /ego_planner_node/fsm/waypoint1_z: 1.0
* /ego_planner_node/fsm/waypoint2_x: 15.0
* /ego_planner_node/fsm/waypoint2_y: 0.0
* /ego_planner_node/fsm/waypoint2_z: 1.0
* /ego_planner_node/fsm/waypoint3_x: 0.0
* /ego_planner_node/fsm/waypoint3_y: -15.0
* /ego_planner_node/fsm/waypoint3_z: 1.0
* /ego_planner_node/fsm/waypoint4_x: -15.0
* /ego_planner_node/fsm/waypoint4_y: 0.0
* /ego_planner_node/fsm/waypoint4_z: 1.0
* /ego_planner_node/fsm/waypoint_num: 5
* /ego_planner_node/grid_map/cx: 321.04638671875
* /ego_planner_node/grid_map/cy: 243.44969177246094
* /ego_planner_node/grid_map/depth_filter_margin: 1
* /ego_planner_node/grid_map/depth_filter_maxdist: 5.0
* /ego_planner_node/grid_map/depth_filter_mindist: 0.2
* /ego_planner_node/grid_map/depth_filter_tolerance: 0.15
* /ego_planner_node/grid_map/frame_id: world
* /ego_planner_node/grid_map/fx: 387.229248046875
* /ego_planner_node/grid_map/fy: 387.229248046875
* /ego_planner_node/grid_map/ground_height: -0.01
* /ego_planner_node/grid_map/k_depth_scaling_factor: 1000.0
* /ego_planner_node/grid_map/local_map_margin: 30
* /ego_planner_node/grid_map/local_update_range_x: 5.5
* /ego_planner_node/grid_map/local_update_range_y: 5.5
* /ego_planner_node/grid_map/local_update_range_z: 4.5
* /ego_planner_node/grid_map/map_size_x: 40.0
* /ego_planner_node/grid_map/map_size_y: 40.0
* /ego_planner_node/grid_map/map_size_z: 3.0
* /ego_planner_node/grid_map/max_ray_length: 4.5
* /ego_planner_node/grid_map/min_ray_length: 0.1
* /ego_planner_node/grid_map/obstacles_inflation: 0.099
* /ego_planner_node/grid_map/p_hit: 0.65
* /ego_planner_node/grid_map/p_max: 0.9
* /ego_planner_node/grid_map/p_min: 0.12
* /ego_planner_node/grid_map/p_miss: 0.35
* /ego_planner_node/grid_map/p_occ: 0.8
* /ego_planner_node/grid_map/pose_type: 2
* /ego_planner_node/grid_map/resolution: 0.1
* /ego_planner_node/grid_map/show_occ_time: False
* /ego_planner_node/grid_map/skip_pixel: 2
* /ego_planner_node/grid_map/use_depth_filter: True
* /ego_planner_node/grid_map/virtual_ceil_height: 2.5
* /ego_planner_node/grid_map/visualization_truncate_height: 2.4
* /ego_planner_node/manager/control_points_distance: 0.4
* /ego_planner_node/manager/feasibility_tolerance: 0.05
* /ego_planner_node/manager/max_acc: 0.5
* /ego_planner_node/manager/max_jerk: 4.0
* /ego_planner_node/manager/max_vel: 0.3
* /ego_planner_node/manager/planning_horizon: 7.5
* /ego_planner_node/optimization/dist0: 0.5
* /ego_planner_node/optimization/lambda_collision: 0.5
* /ego_planner_node/optimization/lambda_feasibility: 0.1
* /ego_planner_node/optimization/lambda_fitness: 1.0
* /ego_planner_node/optimization/lambda_smooth: 1.0
* /ego_planner_node/optimization/max_acc: 0.5
* /ego_planner_node/optimization/max_vel: 0.3
* /rosdistro: noetic
* /rosversion: 1.17.4
* /traj_server/traj_server/time_forward: 1.0
* /waypoint_generator/waypoint_type: manual-lonely-way…
NODES
/
ego_planner_node (ego_planner/ego_planner_node)
traj_server (ego_planner/traj_server)
waypoint_generator (waypoint_generator/waypoint_generator)
ROS_MASTER_URI=http://localhost:11311
process[ego_planner_node-1]: started with pid [16771]
process[traj_server-2]: started with pid [16772]
process[waypoint_generator-3]: started with pid [16774]
[INFO] [1756290126.600417247]: init grid_map
Get intrinsic
387.229 0 321.046
0 387.229 243.45
0 0 1
hit: 0.619039
miss: -0.619039
min log: -1.99243
max: 2.19722
thresh log: 1.38629
[INFO] [1756290126.699368427]: before Subscriber
[INFO] [1756290126.713578239]: grid_map init complete
terminate called after throwing an instance of 'ros::InvalidNameException'
what(): Character [-] at element [7] is not valid in Graph Resource Name [/drone_-1_planning/swarm_trajs]. Valid characters are a-z, A-Z, 0-9, / and _.
[ego_planner_node-1] process has died [pid 16771, exit code -6, cmd /home/lixing/1/Fast-LIO2/devel/lib/ego_planner/ego_planner_node /odom_world:=/Odometry /grid_map/odom:=/Odometry /grid_map/cloud:=/cloud_registered /grid_map/pose:=/pcl_render_node/camera_pose /grid_map/depth:=/camera/depth/image_rect_raw __name:=ego_planner_node __log:=/home/lixing/.ros/log/073dfb40-8314-11f0-8ffb-0145177117b2/ego_planner_node-1.log].
log file: /home/lixing/.ros/log/073dfb40-8314-11f0-8ffb-0145177117b2/ego_planner_node-1*.log
[WARN] [1756290128.359651796, 7788.256000000]: [Traj server]: ready.
