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<div class="section" id="id1">
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<h1>常见问题<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h1>
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<div class="section" id="id2">
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<h2>设备篇<a class="headerlink" href="#id2" title="永久链接至标题">¶</a></h2>
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<ol>
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<li><p>“电池充电接口、工控机电源接口、Kinect 集线器的电源接口可以互换适配器吗？”</p>
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<p>少年，劝你别有这么大胆的想法！</p>
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<p>尽管这三者物理外形一致，但电气规格<strong>并不通用</strong>，使用时务必注意，错误的接线方式将会导致设备损坏，甚至危及人身安全。</p>
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</li>
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<li><p>“为什么风扇噪音非常大？”</p>
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<p>众所周知，AMD 旗下 CPU 最大的特点就是~~发热量大~~性能强劲，并且工控机内部结构十分紧凑，只有风扇维持在较高转速才保证系统正常工作。</p>
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</li>
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<li><p>“为什么我看不到 Kinect 的数据？”</p>
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<p>Kinec集线器的数据线另一端必须插在工控机 <strong>USB3.0</strong> 接口上，否则将无法从工控机读取到Kinect的数据。</p>
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</li>
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<li><p>“ USB-Hub 上面的接口不通用吗？”</p>
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<p>不通用，组装时务必按照文字提示插入设备，错误的接线方式将无法正常建图、定位、避障，甚至危及人身安全。</p>
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</li>
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</ol>
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</div>
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<div class="section" id="id3">
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<h2>建图导航-建图篇<a class="headerlink" href="#id3" title="永久链接至标题">¶</a></h2>
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<ol>
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<li><p>键盘控制AP1行走时，AP1动作异常，动一下停一下</p>
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<p>可调整显示器的位置，保持接收器不被遮挡，并调整自己的位置，使接收器可以接收到发送的指令信号，建议使用USB延长线或USB-HUB将接收器放置在架子的高处，无任何遮挡，便于信号传输。</p>
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</li>
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<li><p>键盘控制，AP1一动不动</p>
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<p>a) 确认已将AP1电源总开关打开，急停开关没有被按下，AP1处于上位机控制模式</p>
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<p>b) 新开一个terminal，执行以下命令，打出关系图，查看键盘节点</p>
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<p><code class="docutils literal notranslate"><span class="pre">$</span> <span class="pre">rosrun</span> <span class="pre">rqt_graph</span> <span class="pre">rqt_graph</span></code></p>
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<p>c) 执行以下命令，上下左右控制键盘看是否会有数据打出，如没有数据打出，说明AP1没有接收到键盘发送的指令</p>
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<p><code class="docutils literal notranslate"><span class="pre">$</span> <span class="pre">rostopic</span> <span class="pre">echo</span> <span class="pre">/cmd_vel</span></code></p>
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<p>d)执行以下命令，确认event-kbd的数量，数量大于一个则有问题</p>
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<p><code class="docutils literal notranslate"><span class="pre">ll</span> <span class="pre">/dev/input/by-path/</span> </code></p>
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<p><img alt="../../_images/keyboard.png" src="../../_images/keyboard.png" /></p>
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<p>e) 请排查是否有多个键盘设备，键盘驱动查找的是最后一个连接的键盘，需要将其他（显示为）键盘的设备找出来，拔掉（可能是鼠标、机械键盘、混装键鼠）</p>
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</li>
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<li><p>AP1不受键盘控制、失控</p>
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<p>在开始建图前，需要禁用无线功能。如果没有禁用，AP1在连接了WIFI的状态下开始建图，在地图构建过程中，一旦AP1离开无线覆盖区域，无线连接断开，ROS的网络通信中断就会导致AP1控制失控。</p>
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</li>
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<li><p>如何判断自己的建图质量</p>
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<p>在构建完成的地图中，如很明显是障碍物（墙）的颜色是虚的，则不太好。</p>
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</li>
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<li><p>如何建出高质量的地图/建图效果不佳/地图构建要点</p>
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<p>在构建地图的过程，以下几点会影响到建图的准确性：</p>
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<ul class="simple">
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<li><p>轮胎气不足影响里程计数据</p></li>
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<li><p>运行速度不宜过快，由于激光扫描有一定的频率，车速低时雷达可以扫描到的点更多，构建的地图会更准确一些</p></li>
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<li><p>走一个来回，增加激光雷达扫描次数，累计更多的数据</p></li>
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<li><p>地图构建的质量也受环境限制，请尽量选择特征比较明显的环境，玻璃、镜子、楼道、空旷等场景会影响建图效果</p></li>
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<li><p>构建完成的地图，会发现有些点会飞出，飞出的点可能是由于物体的表面不平或者有空隙激光直接穿越了过去</p></li>
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<li><p>当场景很大特征不足的时候，需要规划建图路径时，应先走一个小回环，当回环成功后，可以再多走几圈，消除粒子在这个回环的多样性。接下来走下一个回环，直到把整个地图连通成一个大的回环</p></li>
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</ul>
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</li>
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</ol>
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</div>
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<div class="section" id="id4">
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<h2>建图导航-导航篇<a class="headerlink" href="#id4" title="永久链接至标题">¶</a></h2>
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<ol>
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<li><p>初始化定位如何完成</p>
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<p>控制机器人前后左右转弯即可</p>
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</li>
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<li><p>初始化定位一直没有成功，地图和真实环境不符是什么原因</p>
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<p>如周围没有明显的特征信息，使得机器人能够找到自己的位置，开到有折角拐弯或明显标志物附近，能够加速机器人找到自己的位置。</p>
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</li>
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</ol>
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