hku-mars / ipc Goto Github PK

Hello, after reading the experimental part of your article, I would like to ask a question about:
"The FAST-LIO2 [25] algorithm serves as the localization module, providing 100Hz high-quality state estimation and 50Hz point cloud. Finally, the angular velocity control of the quadrotor is achieved by Pixhawk autopilot."
How can this be done? I see that the odometer frame rate of FAST-LIO and POINT-LIO is the same as the radar frame rate. How can I increase the frame rate?

您好，在阅读了你们的文章实验部分后，我想请教一个问题，关于：
"The FAST-LIO2 [25] algorithm serves as the local ization module, providing 100Hz high-quality state estimation and 50Hz point cloud. Finally, the angular velocity control of the quadrotor is achieved by Pixhawk autopilot."
请问这是怎么做到的，我看FAST-LIO与POINT-LIO的里程计帧率都与雷达帧率一样，请问怎么提高帧率呢

catkin_build have meet this problem , please tell me how to solve , the fmt is already the shared lib

here is the error :
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)': /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::bigint::operator<<=(int)':
/opt/ros/noetic/include/fmt/format.h:2821: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned::type fmt::v9::detail::to_unsigned(int)':
/opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::bigint::assign_pow10(int)': /opt/ros/noetic/include/fmt/format.h:2885: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::bigint::subtract_aligned(fmt::v9::detail::bigint const&)': /opt/ros/noetic/include/fmt/format.h:2743: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o:/opt/ros/noetic/include/fmt/format.h:2742: more undefined references to fmt::v9::detail::assert_fail(char const*, int, char const*)' follow /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::format_error::format_error(char const*)':
/opt/ros/noetic/include/fmt/format.h:951: undefined reference to vtable for fmt::v9::format_error' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::adjust_precision(int&, int)':
/opt/ros/noetic/include/fmt/format.h:2608: undefined reference to fmt::v9::format_error::~format_error()' /usr/bin/ld: /opt/ros/noetic/include/fmt/format.h:2608: undefined reference to typeinfo for fmt::v9::format_error'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::print<char const*>(fmt::v9::basic_format_string<char, fmt::v9::type_identity<char const*>::type>, char const*&&)': /opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::print<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&>(fmt::v9::basic_format_string<char, fmt::v9::type_identity<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&>::type>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)': /opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::print<char const*>(fmt::v9::basic_format_string<char, fmt::v9::type_identity<char const*>::type>, char const*&&)': /opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::print<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&>(fmt::v9::basic_format_string<char, fmt::v9::type_identity<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&>::type>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)': /opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::format_decimal_result<char*> fmt::v9::detail::format_decimal<char, unsigned int>(char*, unsigned int, int)': /opt/ros/noetic/include/fmt/format.h:1216: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::format_decimal_result<char*> fmt::v9::detail::format_decimal<char, unsigned long>(char*, unsigned long, int)': /opt/ros/noetic/include/fmt/format.h:1216: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function int fmt::v9::detail::parse_nonnegative_int<char>(char const*&, char const*, int)': /opt/ros/noetic/include/fmt/core.h:2338: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)': /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o:/opt/ros/noetic/include/fmt/core.h:638: more undefined references to fmt::v9::detail::throw_format_error(char const*)' follow /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::print<char const*>(fmt::v9::basic_format_string<char, fmt::v9::type_identity<char const*>::type>, char const*&&)':
/opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view<char>, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::print<std::__cxx11::basic_string<char, std::char_traits, std::allocator >&>(fmt::v9::basic_format_string<char, fmt::v9::type_identity<std::__cxx11::basic_string<char, std::char_traits, std::allocator >&>::type>, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&)':
/opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view<char>, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned::type fmt::v9::detail::to_unsigned(long)':
/opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)':
/opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function char const* fmt::v9::detail::do_parse_arg_id<char, fmt::v9::detail::parse_precision<char, fmt::v9::detail::specs_checker<fmt::v9::detail::specs_handler<char> >&>(char const*, char const*, fmt::v9::detail::specs_checker<fmt::v9::detail::specs_handler<char> >&)::precision_adapter&>(char const*, char const*, fmt::v9::detail::specs_checker<fmt::v9::detail::specs_handler<char> >&)': /opt/ros/noetic/include/fmt/core.h:2406: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)': /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned::type fmt::v9::detail::to_unsigned(long)':
/opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function int fmt::v9::detail::format_float(double, int, fmt::v9::detail::float_specs, fmt::v9::detail::buffer&)':
/opt/ros/noetic/include/fmt/format.h:3137: undefined reference to fmt::v9::detail::dragonbox::decimal_fp<double> fmt::v9::detail::dragonbox::to_decimal<double>(double)' /usr/bin/ld: /opt/ros/noetic/include/fmt/format.h:3133: undefined reference to fmt::v9::detail::dragonbox::decimal_fp fmt::v9::detail::dragonbox::to_decimal(float)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::gen_digits_handler::on_digit(char, unsigned long, unsigned long, unsigned long, bool)': /opt/ros/noetic/include/fmt/format.h:2573: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::grisu_gen_digits(fmt::v9::detail::basic_fp<unsigned long long>, unsigned long, int&, fmt::v9::detail::gen_digits_handler&)': /opt/ros/noetic/include/fmt/format.h:2686: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::gen_digits_handler::on_digit(char, unsigned long, unsigned long, unsigned long, bool)': /opt/ros/noetic/include/fmt/format.h:2583: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function int fmt::v9::detail::format_float<double>(double, int, fmt::v9::detail::float_specs, fmt::v9::detail::buffer<char>&)': /opt/ros/noetic/include/fmt/format.h:3102: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o:/opt/ros/noetic/include/fmt/format.h:2625: more undefined references to fmt::v9::detail::assert_fail(char const*, int, char const*)' follow /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::format_error::format_error(char const*)':
/opt/ros/noetic/include/fmt/format.h:951: undefined reference to vtable for fmt::v9::format_error' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::adjust_precision(int&, int)':
/opt/ros/noetic/include/fmt/format.h:2608: undefined reference to fmt::v9::format_error::~format_error()' /usr/bin/ld: /opt/ros/noetic/include/fmt/format.h:2608: undefined reference to typeinfo for fmt::v9::format_error'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::thousands_sep_result<char> fmt::v9::detail::thousands_sep<char>(fmt::v9::detail::locale_ref)': /opt/ros/noetic/include/fmt/format.h:1169: undefined reference to fmt::v9::detail::thousands_sep_result fmt::v9::detail::thousands_sep_impl(fmt::v9::detail::locale_ref)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write_exponent<char, fmt::v9::appender>(int, fmt::v9::appender)':
/opt/ros/noetic/include/fmt/format.h:1370: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned::type fmt::v9::detail::to_unsigned(int)':
/opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned::type fmt::v9::detail::to_unsigned(long)':
/opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function char fmt::v9::detail::decimal_point(fmt::v9::detail::locale_ref)':
/opt/ros/noetic/include/fmt/format.h:1180: undefined reference to char fmt::v9::detail::decimal_point_impl<char>(fmt::v9::detail::locale_ref)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned::type fmt::v9::detail::to_unsigned(int)':
/opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)':
/opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function int fmt::v9::detail::format_float(long double, int, fmt::v9::detail::float_specs, fmt::v9::detail::buffer&)':
/opt/ros/noetic/include/fmt/format.h:3102: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned::type fmt::v9::detail::to_unsigned(int)':
/opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender, long double, 0>(fmt::v9::appender, long double, fmt::v9::basic_format_specs, fmt::v9::detail::locale_ref)':
/opt/ros/noetic/include/fmt/format.h:3223: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)':
/opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender, float, 0>(fmt::v9::appender, float, fmt::v9::basic_format_specs, fmt::v9::detail::locale_ref)':
/opt/ros/noetic/include/fmt/format.h:3223: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned::type fmt::v9::detail::to_unsigned(int)':
/opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)':
/opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender, double, 0>(fmt::v9::appender, double, fmt::v9::basic_format_specs, fmt::v9::detail::locale_ref)':
/opt/ros/noetic/include/fmt/format.h:3223: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned::type fmt::v9::detail::to_unsigned(int)':
/opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender>(fmt::v9::appender, char const*)': /opt/ros/noetic/include/fmt/format.h:3322: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::format_decimal_result<char*> fmt::v9::detail::format_decimal<char, unsigned __int128>(char*, unsigned __int128, int)': /opt/ros/noetic/include/fmt/format.h:1216: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<long>::type fmt::v9::detail::to_unsigned<long>(long)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::needs_escape(unsigned int)': /opt/ros/noetic/include/fmt/format.h:1707: undefined reference to fmt::v9::detail::is_printable(unsigned int)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write_int<char, fmt::v9::appender, unsigned long>(fmt::v9::appender, fmt::v9::detail::write_int_arg<unsigned long>, fmt::v9::basic_format_specs<char> const&, fmt::v9::detail::locale_ref)': /opt/ros/noetic/include/fmt/format.h:2105: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write_int<char, fmt::v9::appender, unsigned int>(fmt::v9::appender, fmt::v9::detail::write_int_arg<unsigned int>, fmt::v9::basic_format_specs<char> const&, fmt::v9::detail::locale_ref)': /opt/ros/noetic/include/fmt/format.h:2105: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write_exponent<char, fmt::v9::appender>(int, fmt::v9::appender)':
/opt/ros/noetic/include/fmt/format.h:1370: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/format.h:1370: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<long>::type fmt::v9::detail::to_unsigned<long>(long)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::needs_escape(unsigned int)': /opt/ros/noetic/include/fmt/format.h:1707: undefined reference to fmt::v9::detail::is_printable(unsigned int)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/format.h:1707: undefined reference to fmt::v9::detail::is_printable(unsigned int)' /usr/bin/ld: /opt/ros/noetic/include/fmt/format.h:1707: undefined reference to fmt::v9::detail::is_printable(unsigned int)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<long>::type fmt::v9::detail::to_unsigned<long>(long)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::needs_escape(unsigned int)': /opt/ros/noetic/include/fmt/format.h:1707: undefined reference to fmt::v9::detail::is_printable(unsigned int)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/format.h:1707: undefined reference to fmt::v9::detail::is_printable(unsigned int)' /usr/bin/ld: /opt/ros/noetic/include/fmt/format.h:1707: undefined reference to fmt::v9::detail::is_printable(unsigned int)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)': /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function char fmt::v9::detail::decimal_point<char>(fmt::v9::detail::locale_ref)': /opt/ros/noetic/include/fmt/format.h:1180: undefined reference to char fmt::v9::detail::decimal_point_impl(fmt::v9::detail::locale_ref)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender, float, 0>(fmt::v9::appender, float)': /opt/ros/noetic/include/fmt/format.h:3256: undefined reference to fmt::v9::detail::dragonbox::decimal_fp fmt::v9::detail::dragonbox::to_decimal(float)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function char fmt::v9::detail::decimal_point<char>(fmt::v9::detail::locale_ref)': /opt/ros/noetic/include/fmt/format.h:1180: undefined reference to char fmt::v9::detail::decimal_point_impl(fmt::v9::detail::locale_ref)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender, double, 0>(fmt::v9::appender, double)': /opt/ros/noetic/include/fmt/format.h:3256: undefined reference to fmt::v9::detail::dragonbox::decimal_fp fmt::v9::detail::dragonbox::to_decimal(double)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write_int<char, fmt::v9::appender, unsigned __int128>(fmt::v9::appender, fmt::v9::detail::write_int_arg<unsigned __int128>, fmt::v9::basic_format_specs<char> const&, fmt::v9::detail::locale_ref)': /opt/ros/noetic/include/fmt/format.h:2105: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<int>::type fmt::v9::detail::to_unsigned<int>(int)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)': /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender>(fmt::v9::appender, fmt::v9::monostate, fmt::v9::basic_format_specs<char>, fmt::v9::detail::locale_ref)': /opt/ros/noetic/include/fmt/format.h:3270: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned<long>::type fmt::v9::detail::to_unsigned<long>(long)': /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)': /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::fill_t<char>::operator=(fmt::v9::basic_string_view<char>)': /opt/ros/noetic/include/fmt/core.h:2095: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)': /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o:/opt/ros/noetic/include/fmt/core.h:638: more undefined references to fmt::v9::detail::throw_format_error(char const*)' follow /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender>(fmt::v9::appender, fmt::v9::monostate, fmt::v9::basic_format_specs, fmt::v9::detail::locale_ref)':
/opt/ros/noetic/include/fmt/format.h:3270: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)':
/opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function std::make_unsigned::type fmt::v9::detail::to_unsigned(long)':
/opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:409: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::detail::error_handler::on_error(char const*)': /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:638: undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender>(fmt::v9::appender, fmt::v9::monostate, fmt::v9::basic_format_specs, fmt::v9::detail::locale_ref)':
/opt/ros/noetic/include/fmt/format.h:3270: undefined reference to fmt::v9::detail::assert_fail(char const*, int, char const*)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::vprint<char [29], char>(_IO_FILE*, fmt::v9::text_style const&, char const (&) [29], fmt::v9::basic_format_args<fmt::v9::basic_format_context<std::conditional<std::is_same<fmt::v9::type_identity::type, char>::value, fmt::v9::appender, std::back_insert_iterator<fmt::v9::detail::buffer<fmt::v9::type_identity::type> > >::type, fmt::v9::type_identity::type> >)':
/opt/ros/noetic/include/fmt/color.h:488: undefined reference to fmt::v9::detail::print(_IO_FILE*, fmt::v9::basic_string_view<char>)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::print<int&>(fmt::v9::basic_format_string<char, fmt::v9::type_identity<int&>::type>, int&)':
/opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view<char>, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::vprint<char [31], char>(_IO_FILE*, fmt::v9::text_style const&, char const (&) [31], fmt::v9::basic_format_args<fmt::v9::basic_format_context<std::conditional<std::is_same<fmt::v9::type_identity::type, char>::value, fmt::v9::appender, std::back_insert_iterator<fmt::v9::detail::buffer<fmt::v9::type_identity::type> > >::type, fmt::v9::type_identity::type> >)':
/opt/ros/noetic/include/fmt/color.h:488: undefined reference to fmt::v9::detail::print(_IO_FILE*, fmt::v9::basic_string_view<char>)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::vprint<char [28], char>(_IO_FILE*, fmt::v9::text_style const&, char const (&) [28], fmt::v9::basic_format_args<fmt::v9::basic_format_context<std::conditional<std::is_same<fmt::v9::type_identity::type, char>::value, fmt::v9::appender, std::back_insert_iterator<fmt::v9::detail::buffer<fmt::v9::type_identity::type> > >::type, fmt::v9::type_identity::type> >)':
/opt/ros/noetic/include/fmt/color.h:488: undefined reference to fmt::v9::detail::print(_IO_FILE*, fmt::v9::basic_string_view<char>)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::vprint<char [20], char>(_IO_FILE*, fmt::v9::text_style const&, char const (&) [20], fmt::v9::basic_format_args<fmt::v9::basic_format_context<std::conditional<std::is_same<fmt::v9::type_identity::type, char>::value, fmt::v9::appender, std::back_insert_iterator<fmt::v9::detail::buffer<fmt::v9::type_identity::type> > >::type, fmt::v9::type_identity::type> >)':
/opt/ros/noetic/include/fmt/color.h:488: undefined reference to fmt::v9::detail::print(_IO_FILE*, fmt::v9::basic_string_view<char>)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::print<std::__cxx11::basic_string<char, std::char_traits, std::allocator >&>(fmt::v9::basic_format_string<char, fmt::v9::type_identity<std::__cxx11::basic_string<char, std::char_traits, std::allocator >&>::type>, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&)':
/opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view<char>, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::print<char const*>(fmt::v9::basic_format_string<char, fmt::v9::type_identity<char const*>::type>, char const*&&)':
/opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view<char>, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)' /usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)'
/usr/bin/ld: /opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view<char>, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o: in function void fmt::v9::print<std::__cxx11::basic_string<char, std::char_traits, std::allocator >&>(fmt::v9::basic_format_string<char, fmt::v9::type_identity<std::__cxx11::basic_string<char, std::char_traits, std::allocator >&>::type>, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&)':
/opt/ros/noetic/include/fmt/core.h:3295: undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view<char>, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)' /usr/bin/ld: CMakeFiles/random_map_node.dir/Apps/random_map_gene_node.cpp.o:/opt/ros/noetic/include/fmt/core.h:3295: more undefined references to fmt::v9::vprint(fmt::v9::basic_string_view, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)' follow
collect2: error: ld returned 1 exit status
make[2]: *** [IPC/mars_uav_sim/uav_simulator/map_generator/CMakeFiles/random_map_node.dir/build.make:404: /home/cxd/code/mars/IPC_ws/devel/lib/map_generator/random_map_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:3053: IPC/mars_uav_sim/uav_simulator/map_generator/CMakeFiles/random_map_node.dir/all] Error 2
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function unsigned long long fmt::v9::detail::width_checker<fmt::v9::detail::error_handler>::operator()<float, 0>(float) [clone .isra.0]': planner.cpp:(.text+0x8e): undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function unsigned long long fmt::v9::detail::precision_checker<fmt::v9::detail::error_handler>::operator()<float, 0>(float) [clone .isra.0]': planner.cpp:(.text+0xae): undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function emvp::emvp(Eigen::Matrix<double, -1, 4, 0, -1, 4> const&, Eigen::Matrix<double, 3, -1, 0, 3, -1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Polytope&, double, bool, int)': planner.cpp:(.text+0x67d0): undefined reference to fmt::v9::detail::print(_IO_FILE*, fmt::v9::basic_string_view)'
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::detail::format_dragon(fmt::v9::detail::basic_fp<unsigned __int128>, unsigned int, int, fmt::v9::detail::buffer<char>&, int&)': planner.cpp:(.text._ZN3fmt2v96detail13format_dragonENS1_8basic_fpIoEEjiRNS1_6bufferIcEERi[_ZN3fmt2v96detail13format_dragonENS1_8basic_fpIoEEjiRNS1_6bufferIcEERi]+0x2e1c): undefined reference to vtable for fmt::v9::format_error'
/usr/bin/ld: planner.cpp:(.text._ZN3fmt2v96detail13format_dragonENS1_8basic_fpIoEEjiRNS1_6bufferIcEERi[_ZN3fmt2v96detail13format_dragonENS1_8basic_fpIoEEjiRNS1_6bufferIcEERi]+0x2e23): undefined reference to fmt::v9::format_error::~format_error()' /usr/bin/ld: planner.cpp:(.text._ZN3fmt2v96detail13format_dragonENS1_8basic_fpIoEEjiRNS1_6bufferIcEERi[_ZN3fmt2v96detail13format_dragonENS1_8basic_fpIoEEjiRNS1_6bufferIcEERi]+0x2e2a): undefined reference to typeinfo for fmt::v9::format_error'
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function int fmt::v9::detail::get_dynamic_spec<fmt::v9::detail::width_checker, fmt::v9::basic_format_arg<fmt::v9::basic_format_context<fmt::v9::appender, char> >, fmt::v9::detail::error_handler>(fmt::v9::basic_format_arg<fmt::v9::basic_format_context<fmt::v9::appender, char> >, fmt::v9::detail::error_handler)': planner.cpp:(.text._ZN3fmt2v96detail16get_dynamic_specINS1_13width_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_[_ZN3fmt2v96detail16get_dynamic_specINS1_13width_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_]+0x58): undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: planner.cpp:(.text.ZN3fmt2v96detail16get_dynamic_specINS1_13width_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1[ZN3fmt2v96detail16get_dynamic_specINS1_13width_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1]+0x70): undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: planner.cpp:(.text._ZN3fmt2v96detail16get_dynamic_specINS1_13width_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_[_ZN3fmt2v96detail16get_dynamic_specINS1_13width_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_]+0xca): undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function int fmt::v9::detail::get_dynamic_spec<fmt::v9::detail::precision_checker, fmt::v9::basic_format_arg<fmt::v9::basic_format_context<fmt::v9::appender, char> >, fmt::v9::detail::error_handler>(fmt::v9::basic_format_arg<fmt::v9::basic_format_context<fmt::v9::appender, char> >, fmt::v9::detail::error_handler)': planner.cpp:(.text._ZN3fmt2v96detail16get_dynamic_specINS1_17precision_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_[_ZN3fmt2v96detail16get_dynamic_specINS1_17precision_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_]+0x50): undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: planner.cpp:(.text.ZN3fmt2v96detail16get_dynamic_specINS1_17precision_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1[ZN3fmt2v96detail16get_dynamic_specINS1_17precision_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1]+0x68): undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o:planner.cpp:(.text._ZN3fmt2v96detail16get_dynamic_specINS1_17precision_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_[_ZN3fmt2v96detail16get_dynamic_specINS1_17precision_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_]+0xc0): more undefined references to fmt::v9::detail::throw_format_error(char const*)' follow
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function int fmt::v9::detail::format_float<double>(double, int, fmt::v9::detail::float_specs, fmt::v9::detail::buffer<char>&)': planner.cpp:(.text._ZN3fmt2v96detail12format_floatIdEEiT_iNS1_11float_specsERNS1_6bufferIcEE[_ZN3fmt2v96detail12format_floatIdEEiT_iNS1_11float_specsERNS1_6bufferIcEE]+0x1d9): undefined reference to fmt::v9::detail::dragonbox::decimal_fp fmt::v9::detail::dragonbox::to_decimal(double)'
/usr/bin/ld: planner.cpp:(.text._ZN3fmt2v96detail12format_floatIdEEiT_iNS1_11float_specsERNS1_6bufferIcEE[_ZN3fmt2v96detail12format_floatIdEEiT_iNS1_11float_specsERNS1_6bufferIcEE]+0x53d): undefined reference to fmt::v9::detail::dragonbox::decimal_fp<float> fmt::v9::detail::dragonbox::to_decimal<float>(float)' /usr/bin/ld: planner.cpp:(.text._ZN3fmt2v96detail12format_floatIdEEiT_iNS1_11float_specsERNS1_6bufferIcEE[_ZN3fmt2v96detail12format_floatIdEEiT_iNS1_11float_specsERNS1_6bufferIcEE]+0xa04): undefined reference to vtable for fmt::v9::format_error'
/usr/bin/ld: planner.cpp:(.text._ZN3fmt2v96detail12format_floatIdEEiT_iNS1_11float_specsERNS1_6bufferIcEE[_ZN3fmt2v96detail12format_floatIdEEiT_iNS1_11float_specsERNS1_6bufferIcEE]+0xa0b): undefined reference to fmt::v9::format_error::~format_error()' /usr/bin/ld: planner.cpp:(.text._ZN3fmt2v96detail12format_floatIdEEiT_iNS1_11float_specsERNS1_6bufferIcEE[_ZN3fmt2v96detail12format_floatIdEEiT_iNS1_11float_specsERNS1_6bufferIcEE]+0xa12): undefined reference to typeinfo for fmt::v9::format_error'
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::detail::digit_grouping<char>::digit_grouping(fmt::v9::detail::locale_ref, bool)': planner.cpp:(.text._ZN3fmt2v96detail14digit_groupingIcEC2ENS1_10locale_refEb[_ZN3fmt2v96detail14digit_groupingIcEC5ENS1_10locale_refEb]+0x66): undefined reference to fmt::v9::detail::thousands_sep_result fmt::v9::detail::thousands_sep_impl(fmt::v9::detail::locale_ref)'
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::detail::counting_iterator fmt::v9::detail::write_escaped_string<char, fmt::v9::detail::counting_iterator>(fmt::v9::detail::counting_iterator, fmt::v9::basic_string_view<char>)': planner.cpp:(.text._ZN3fmt2v96detail20write_escaped_stringIcNS1_17counting_iteratorEEET0_S4_NS0_17basic_string_viewIT_EE[_ZN3fmt2v96detail20write_escaped_stringIcNS1_17counting_iteratorEEET0_S4_NS0_17basic_string_viewIT_EE]+0x25e): undefined reference to fmt::v9::detail::is_printable(unsigned int)'
/usr/bin/ld: planner.cpp:(.text._ZN3fmt2v96detail20write_escaped_stringIcNS1_17counting_iteratorEEET0_S4_NS0_17basic_string_viewIT_EE[_ZN3fmt2v96detail20write_escaped_stringIcNS1_17counting_iteratorEEET0_S4_NS0_17basic_string_viewIT_EE]+0x2d8): undefined reference to fmt::v9::detail::is_printable(unsigned int)' /usr/bin/ld: planner.cpp:(.text._ZN3fmt2v96detail20write_escaped_stringIcNS1_17counting_iteratorEEET0_S4_NS0_17basic_string_viewIT_EE[_ZN3fmt2v96detail20write_escaped_stringIcNS1_17counting_iteratorEEET0_S4_NS0_17basic_string_viewIT_EE]+0x518): undefined reference to fmt::v9::detail::is_printable(unsigned int)'
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::write_escaped_char<char, fmt::v9::appender>(fmt::v9::appender, char)': planner.cpp:(.text._ZN3fmt2v96detail18write_escaped_charIcNS0_8appenderEEET0_S4_T_[_ZN3fmt2v96detail18write_escaped_charIcNS0_8appenderEEET0_S4_T_]+0xf9): undefined reference to fmt::v9::detail::is_printable(unsigned int)'
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::write_escaped_string<char, fmt::v9::appender>(fmt::v9::appender, fmt::v9::basic_string_view<char>)': planner.cpp:(.text._ZN3fmt2v96detail20write_escaped_stringIcNS0_8appenderEEET0_S4_NS0_17basic_string_viewIT_EE[_ZN3fmt2v96detail20write_escaped_stringIcNS0_8appenderEEET0_S4_NS0_17basic_string_viewIT_EE]+0x3b6): undefined reference to fmt::v9::detail::is_printable(unsigned int)'
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o:planner.cpp:(.text._ZN3fmt2v96detail20write_escaped_stringIcNS0_8appenderEEET0_S4_NS0_17basic_string_viewIT_EE[_ZN3fmt2v96detail20write_escaped_stringIcNS0_8appenderEEET0_S4_NS0_17basic_string_viewIT_EE]+0x3ef): more undefined references to fmt::v9::detail::is_printable(unsigned int)' follow /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender>(fmt::v9::appender, fmt::v9::basic_string_view<fmt::v9::type_identity::type>, fmt::v9::basic_format_specs const&, fmt::v9::detail::locale_ref) [clone .isra.0]':
planner.cpp:(.text._ZN3fmt2v96detail5writeIcNS0_8appenderEEET0_S4_NS0_17basic_string_viewINS0_13type_identityIT_E4typeEEERKNS0_18basic_format_specsIS7_EENS1_10locale_refE.isra.0[ZZN3fmt2v96detail10vformat_toIcEEvRNS1_6bufferIT_EENS0_17basic_string_viewIS4_EENS0_17basic_format_argsINS0_20basic_format_contextINSt11conditionalIXsrSt7is_sameINS0_13type_identityIS4_E4typeEcE5valueENS0_8appenderESt20back_insert_iteratorINS3_ISF_EEEE4typeESF_EEEENS1_10locale_refEEN14format_handler15on_format_specsEiPKcSS]+0x78c): undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function bool fmt::v9::detail::write_int_localized<fmt::v9::appender, unsigned long, char>(fmt::v9::appender&, unsigned long, unsigned int, fmt::v9::basic_format_specs const&, fmt::v9::detail::locale_ref)':
planner.cpp:(.text._ZN3fmt2v96detail19write_int_localizedINS0_8appenderEmcEEbRT_T0_jRKNS0_18basic_format_specsIT1_EENS1_10locale_refE[_ZN3fmt2v96detail19write_int_localizedINS0_8appenderEmcEEbRT_T0_jRKNS0_18basic_format_specsIT1_EENS1_10locale_refE]+0x54): undefined reference to fmt::v9::detail::thousands_sep_result<char> fmt::v9::detail::thousands_sep_impl<char>(fmt::v9::detail::locale_ref)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::write_int_noinline<char, fmt::v9::appender, unsigned int>(fmt::v9::appender, fmt::v9::detail::write_int_arg, fmt::v9::basic_format_specs const&, fmt::v9::detail::locale_ref)':
planner.cpp:(.text._ZN3fmt2v96detail18write_int_noinlineIcNS0_8appenderEjEET0_S4_NS1_13write_int_argIT1_EERKNS0_18basic_format_specsIT_EENS1_10locale_refE[_ZN3fmt2v96detail18write_int_noinlineIcNS0_8appenderEjEET0_S4_NS1_13write_int_argIT1_EERKNS0_18basic_format_specsIT_EENS1_10locale_refE]+0xb21): undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::write_int_noinline<char, fmt::v9::appender, unsigned long>(fmt::v9::appender, fmt::v9::detail::write_int_arg, fmt::v9::basic_format_specs const&, fmt::v9::detail::locale_ref)':
planner.cpp:(.text._ZN3fmt2v96detail18write_int_noinlineIcNS0_8appenderEmEET0_S4_NS1_13write_int_argIT1_EERKNS0_18basic_format_specsIT_EENS1_10locale_refE[_ZN3fmt2v96detail18write_int_noinlineIcNS0_8appenderEmEET0_S4_NS1_13write_int_argIT1_EERKNS0_18basic_format_specsIT_EENS1_10locale_refE]+0xb90): undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::do_write_float<fmt::v9::appender, fmt::v9::detail::dragonbox::decimal_fp, char, fmt::v9::detail::digit_grouping >(fmt::v9::appender, fmt::v9::detail::dragonbox::decimal_fp const&, fmt::v9::basic_format_specs const&, fmt::v9::detail::float_specs, fmt::v9::detail::locale_ref)':
planner.cpp:(.text._ZN3fmt2v96detail14do_write_floatINS0_8appenderENS1_9dragonbox10decimal_fpIfEEcNS1_14digit_groupingIcEEEET_S9_RKT0_RKNS0_18basic_format_specsIT1_EENS1_11float_specsENS1_10locale_refE[_ZN3fmt2v96detail14do_write_floatINS0_8appenderENS1_9dragonbox10decimal_fpIfEEcNS1_14digit_groupingIcEEEET_S9_RKT0_RKNS0_18basic_format_specsIT1_EENS1_11float_specsENS1_10locale_refE]+0x4dd): undefined reference to char fmt::v9::detail::decimal_point_impl<char>(fmt::v9::detail::locale_ref)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender, float, 0>(fmt::v9::appender, float)':
planner.cpp:(.text.ZN3fmt2v96detail5writeIcNS0_8appenderEfLi0EEET0_S4_T1[ZN3fmt2v96detail5writeIcNS0_8appenderEfLi0EEET0_S4_T1]+0x7c): undefined reference to fmt::v9::detail::dragonbox::decimal_fp<float> fmt::v9::detail::dragonbox::to_decimal<float>(float)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::do_write_float<fmt::v9::appender, fmt::v9::detail::dragonbox::decimal_fp, char, fmt::v9::detail::digit_grouping >(fmt::v9::appender, fmt::v9::detail::dragonbox::decimal_fp const&, fmt::v9::basic_format_specs const&, fmt::v9::detail::float_specs, fmt::v9::detail::locale_ref)':
planner.cpp:(.text._ZN3fmt2v96detail14do_write_floatINS0_8appenderENS1_9dragonbox10decimal_fpIdEEcNS1_14digit_groupingIcEEEET_S9_RKT0_RKNS0_18basic_format_specsIT1_EENS1_11float_specsENS1_10locale_refE[_ZN3fmt2v96detail14do_write_floatINS0_8appenderENS1_9dragonbox10decimal_fpIdEEcNS1_14digit_groupingIcEEEET_S9_RKT0_RKNS0_18basic_format_specsIT1_EENS1_11float_specsENS1_10locale_refE]+0x4fd): undefined reference to char fmt::v9::detail::decimal_point_impl<char>(fmt::v9::detail::locale_ref)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender, double, 0>(fmt::v9::appender, double)':
planner.cpp:(.text.ZN3fmt2v96detail5writeIcNS0_8appenderEdLi0EEET0_S4_T1[ZN3fmt2v96detail5writeIcNS0_8appenderEdLi0EEET0_S4_T1]+0x7d): undefined reference to fmt::v9::detail::dragonbox::decimal_fp<double> fmt::v9::detail::dragonbox::to_decimal<double>(double)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::do_write_float<fmt::v9::appender, fmt::v9::detail::big_decimal_fp, char, fmt::v9::detail::digit_grouping >(fmt::v9::appender, fmt::v9::detail::big_decimal_fp const&, fmt::v9::basic_format_specs const&, fmt::v9::detail::float_specs, fmt::v9::detail::locale_ref)':
planner.cpp:(.text._ZN3fmt2v96detail14do_write_floatINS0_8appenderENS1_14big_decimal_fpEcNS1_14digit_groupingIcEEEET_S7_RKT0_RKNS0_18basic_format_specsIT1_EENS1_11float_specsENS1_10locale_refE[_ZN3fmt2v96detail14do_write_floatINS0_8appenderENS1_14big_decimal_fpEcNS1_14digit_groupingIcEEEET_S7_RKT0_RKNS0_18basic_format_specsIT1_EENS1_11float_specsENS1_10locale_refE]+0x4e5): undefined reference to char fmt::v9::detail::decimal_point_impl<char>(fmt::v9::detail::locale_ref)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender, long double, 0>(fmt::v9::appender, long double, fmt::v9::basic_format_specs, fmt::v9::detail::locale_ref)':
planner.cpp:(.text._ZN3fmt2v96detail5writeIcNS0_8appenderEeLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE[_ZN3fmt2v96detail5writeIcNS0_8appenderEeLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE]+0xaed): undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: planner.cpp:(.text._ZN3fmt2v96detail5writeIcNS0_8appenderEeLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE[_ZN3fmt2v96detail5writeIcNS0_8appenderEeLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE]+0xbbe): undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender, float, 0>(fmt::v9::appender, float, fmt::v9::basic_format_specs<char>, fmt::v9::detail::locale_ref)': planner.cpp:(.text._ZN3fmt2v96detail5writeIcNS0_8appenderEfLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE[_ZN3fmt2v96detail5writeIcNS0_8appenderEfLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE]+0x6ad): undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: planner.cpp:(.text._ZN3fmt2v96detail5writeIcNS0_8appenderEfLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE[_ZN3fmt2v96detail5writeIcNS0_8appenderEfLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE]+0x6be): undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function fmt::v9::appender fmt::v9::detail::write<char, fmt::v9::appender, double, 0>(fmt::v9::appender, double, fmt::v9::basic_format_specs, fmt::v9::detail::locale_ref)':
planner.cpp:(.text._ZN3fmt2v96detail5writeIcNS0_8appenderEdLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE[_ZN3fmt2v96detail5writeIcNS0_8appenderEdLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE]+0x6b3): undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o:planner.cpp:(.text._ZN3fmt2v96detail5writeIcNS0_8appenderEdLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE[_ZN3fmt2v96detail5writeIcNS0_8appenderEdLi0EEET0_S4_T1_NS0_18basic_format_specsIT_EENS1_10locale_refE]+0x6c4): more undefined references to fmt::v9::detail::throw_format_error(char const*)' follow
/usr/bin/ld: CMakeFiles/ipc_node.dir/src/planner.cpp.o: in function void fmt::v9::vprint<char [65], char>(_IO_FILE*, fmt::v9::text_style const&, char const (&) [65], fmt::v9::basic_format_args<fmt::v9::basic_format_context<std::conditional<std::is_same<fmt::v9::type_identity<char>::type, char>::value, fmt::v9::appender, std::back_insert_iterator<fmt::v9::detail::buffer<fmt::v9::type_identity<char>::type> > >::type, fmt::v9::type_identity<char>::type> >)': planner.cpp:(.text._ZN3fmt2v96vprintIA65_ccEEvP8_IO_FILERKNS0_10text_styleERKT_NS0_17basic_format_argsINS0_20basic_format_contextINSt11conditionalIXsrSt7is_sameINS0_13type_identityIT0_E4typeEcE5valueENS0_8appenderESt20back_insert_iteratorINS0_6detail6bufferISI_EEEE4typeESI_EEEE[_ZN3fmt2v96vprintIA65_ccEEvP8_IO_FILERKNS0_10text_styleERKT_NS0_17basic_format_argsINS0_20basic_format_contextINSt11conditionalIXsrSt7is_sameINS0_13type_identityIT0_E4typeEcE5valueENS0_8appenderESt20back_insert_iteratorINS0_6detail6bufferISI_EEEE4typeESI_EEEE]+0x92): undefined reference to fmt::v9::detail::print(_IO_FILE*, fmt::v9::basic_string_view)'
collect2: error: ld returned 1 exit status

thanks

when i set a target，this problem comes.
the drone drop the ground and the solver can not set the ah bh.
what's the reason for this? perhaps the odom error?

感谢分享这么优秀的工作！最近在深度的测试过程中发现了一个bug，在跑ipc.launch和map_rc.launch模拟器时，当规划好几条路径之后，程序会报如下的错误，然后程序崩溃，想问一下，你们在跑该版本代码的时候也会有同样的问题出现吗？

我们现在修改了两个参数，一个是悬停油门，一个是允许油门估计。
里程计和地图是fast lio给的
（We have now modified two parameters, one is hover throttle and the other is allow throttle estimation.
Speedometer and map from fast lio）

When will the code be open source？ Looking forward to this excellent work.

the planner .cpp h460
// remain_path.insert(remain_path.begin(), follow_path_.begin()+astar_index_, follow_path_.end());//此处报错 length错误 remain_path.insert(remain_path.begin(), follow_path_.begin(), follow_path_.end());//此处报错 length错误
the astar_index_ is the nearst index with odom .
but comes the length error.
when i delet this the problem doesn't come . but i what know why it happen? the only reason is that the ollow_path_.begin()+astar_index_ is bigger than follow_path_.end()
but in h35 it has complete check .
//follow_path_[astar_index_]是当前odom与follow_path_最近的点 ros::Time sfc_start = ros::Time::now(); if (follow_path_.size() > 0) { // follow A* path double min_dis = 10000.0; for (int i = 0; i < follow_path_.size(); i++) { // find the nearest point double dis = (odom_p_ - follow_path_[i]).norm(); if (dis < min_dis) { min_dis = dis; astar_index_ = i; } }
besides,why astar_index_ can;t be set to 0? because the begin of astar is the place of odom.