cartographer运行错误集合

播放bag的时候错误 
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
tracking frame不是imu的link
修改lua文件中的tracking frame设置
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 WARN] [1522398152.672156241]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_footprint’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.105784 timeout was 0.1.

这时我们需要在acml_demo.launch文件中加上

 <node pkg="tf" type=&