真机部署的时候第一架无人机飞第二架无人机不飞是什么问题？

[Renaissnance]

[XXLiu-HNU]

Same problem, only Drone 1 start planning, but other Drone's FSM is "IDLE".

[fifeqqs1]

I encouter the same problem，have you solved this problem?

[XXLiu-HNU]

应该是没有接收到其他无人机之间的话题，比如在实物launch文件中，话题映射是这样的：

 <remap from="/swarm_expl/drone_state_send" to="/swarm_expl/drone_state_send_$(arg drone_id)" />
 <remap from="/swarm_expl/drone_state_recv" to="/swarm_expl/drone_state_recv_$(arg drone_id)" />

但是在仿真的时候，所有飞机都映射到相同的话题，因此可以互相订阅

 <remap from="/swarm_expl/drone_state_send" to="/swarm_expl/drone_state" />
 <remap from="/swarm_expl/drone_state_recv" to="/swarm_expl/drone_state" />

[XXLiu-HNU]

即该回调函数一直没有被触发：

void FastExplorationFSM::optResMsgCallback(
    const exploration_manager::PairOptResponseConstPtr& msg) {
  if (msg->from_drone_id == getId() || msg->to_drone_id != getId()) return;

  // Check stamp to avoid unordered/repeated msg
  if (msg->stamp <= expl_manager_->ed_->pair_opt_res_stamps_[msg->from_drone_id - 1] + 1e-4) return;
  expl_manager_->ed_->pair_opt_res_stamps_[msg->from_drone_id - 1] = msg->stamp;

  auto ed = expl_manager_->ed_;
  // Verify the consistency of pair opt via time stamp
  if (!ed->wait_response_ || fabs(ed->pair_opt_stamp_ - msg->stamp) > 1e-5) return;

  ed->wait_response_ = false;
  ROS_WARN("get response %d", int(msg->status));

  if (msg->status != 1) return;  // Receive 1 for valid opt

  auto& state1 = ed->swarm_state_[getId() - 1];
  auto& state2 = ed->swarm_state_[msg->from_drone_id - 1];
  state1.grid_ids_ = ed->ego_ids_;
  state2.grid_ids_ = ed->other_ids_;
  state2.recent_interact_time_ = ros::Time::now().toSec();
  ed->reallocated_ = true;

  if (state_ == IDLE && !state1.grid_ids_.empty()) {
    transitState(PLAN_TRAJ, "optResMsgCallback");
    ROS_WARN("Restart after opt!");
  }
}

[fifeqqs1]

十分感谢 是这个地方 话题没有修改，谢谢

…

------------------&nbsp;原始邮件&nbsp;------------------ 发件人: "SYSU-STAR/RACER" ***@***.***&gt;; 发送时间:&nbsp;2025年3月13日(星期四) 中午1:07 ***@***.***&gt;; ***@***.******@***.***&gt;; 主题:&nbsp;Re: [SYSU-STAR/RACER] 真机部署的时候第一架无人机飞第二架无人机不飞是什么问题？ (Issue #24) 应该是没有接收到其他无人机之间的话题，比如在实物launch文件中，话题映射是这样的： <remap from="/swarm_expl/drone_state_send" to="/swarm_expl/drone_state_send_$(arg drone_id)" /&gt; <remap from="/swarm_expl/drone_state_recv" to="/swarm_expl/drone_state_recv_$(arg drone_id)" /&gt; 但是在仿真的时候，所有飞机都映射到相同的话题，因此可以互相订阅 <remap from="/swarm_expl/drone_state_send" to="/swarm_expl/drone_state" /&gt; <remap from="/swarm_expl/drone_state_recv" to="/swarm_expl/drone_state" /&gt; — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: ***@***.***&gt; XXLiu-HNU left a comment (Robotics-STAR-Lab/RACER#24) 应该是没有接收到其他无人机之间的话题，比如在实物launch文件中，话题映射是这样的： <remap from="/swarm_expl/drone_state_send" to="/swarm_expl/drone_state_send_$(arg drone_id)" /&gt; <remap from="/swarm_expl/drone_state_recv" to="/swarm_expl/drone_state_recv_$(arg drone_id)" /&gt; 但是在仿真的时候，所有飞机都映射到相同的话题，因此可以互相订阅 <remap from="/swarm_expl/drone_state_send" to="/swarm_expl/drone_state" /&gt; <remap from="/swarm_expl/drone_state_recv" to="/swarm_expl/drone_state" /&gt; — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: ***@***.***&gt;