turtlebot3 cartographer sensor_to_tracking fatal 错误

问题描述

turtlebot3仿真运行cartographer报错，具体如下：

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

然后运行

$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer

错误如下：
sensor_bridge.cc:126] Check failed: sensor_to_tracking->translation().norm() < 1e-5 The IMU frame must be colocated with the tracking frame. Transforming linear acceleration into the tracking frame will otherwise be imprecise.

错误原因

这是gazebo_ros_imu的一个bug

解决方法1

运行slam时候，添加参数指定仿真用配置文件

configuration_basename:=turtlebot3_lds_2d_gazebo.lua

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer configuration_basename:=turtlebot3_lds_2d_gazebo.lua

解决方法2

修改默认的配置文件，tracking_frame的值从imu_link修改为base_footprint。

  --tracking_frame = "imu_link", -- imu_link, If you are using gazebo, use 'base_footprint' (libgazebo_ros_imu's bug)
  
  tracking_frame = "base_footprint",