Cartographer报错

according to B2的SLAM之旅 's TB2 RplidarA3 cartographer
here comes the issue

asber@asber-X550VX:~$ roslaunch cartographer_turtlebot turtlebot_lidar_2d.launch
... logging to /home/asber/.ros/log/e92a60e4-2c98-11ea-ba19-74dfbfcbcc4c/roslaunch-asber-X550VX-10602.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://localhost:37291/

SUMMARY
========

PARAMETERS
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /opt/ros/kinetic/...
 * /diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
 * /diagnostic_aggregator/analyzers/input_ports/path: Input Ports
 * /diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
 * /diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
 * /diagnostic_aggregator/analyzers/kobuki/path: Kobuki
 * /diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
 * /diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
 * /diagnostic_aggregator/analyzers/power/path: Power System
 * /diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/power/timeout: 5.0
 * /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
 * /diagnostic_aggregator/analyzers/sensors/path: Sensors
 * /diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
 * /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /mobile_base/base_frame: base_footprint
 * /mobile_base/battery_capacity: 16.5
 * /mobile_base/battery_dangerous: 13.2
 * /mobile_base/battery_low: 14.0
 * /mobile_base/cmd_vel_timeout: 0.6
 * /mobile_base/device_port: /dev/kobuki
 * /mobile_base/odom_frame: odom
 * /mobile_base/publish_tf: True
 * /mobile_base/use_imu_heading: True
 * /mobile_base/wheel_left_joint_name: wheel_left_joint
 * /mobile_base/wheel_right_joint_name: wheel_right_joint
 * /robot/name: turtlebot
 * /robot/type: turtlebot
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 5.0
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /turtlebot_laptop_battery/acpi_path: /sys/class/power_...
 * /use_sim_time: False

NODES
  /
    bumper2pointcloud (nodelet/nodelet)
    cartographer_node (cartographer_ros/cartographer_node)
    cmd_vel_mux (nodelet/nodelet)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    flat_world_imu_node (cartographer_turtlebot/cartographer_flat_world_imu_node)
    mobile_base (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    turtlebot_laptop_battery (laptop_battery_monitor/laptop_battery.py)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [10628]
process[diagnostic_aggregator-2]: started with pid [10629]
process[mobile_base_nodelet_manager-3]: started with pid [10630]
process[mobile_base-4]: started with pid [10647]
process[bumper2pointcloud-5]: started with pid [10650]
process[cmd_vel_mux-6]: started with pid [10668]
process[turtlebot_laptop_battery-7]: started with pid [10676]
ERROR: cannot launch node of type [cartographer_ros/cartographer_node]: can't locate node [cartographer_node] in package [cartographer_ros]
ERROR: cannot launch node of type [cartographer_turtlebot/cartographer_flat_world_imu_node]: can't locate node [cartographer_flat_world_imu_node] in package [cartographer_turtlebot]
process[rviz-10]: started with pid [10691]
QXcbConnection: Could not connect to display 
[WARN] [1577884685.087973]: Battery : unable to check laptop battery info [/sys/class/power_supply/BAT1/charge_full_design || /sys/class/power_supply/BAT1/energy_full_design does not exist]
[turtlebot_laptop_battery-7] process has finished cleanly
log file: /home/asber/.ros/log/e92a60e4-2c98-11ea-ba19-74dfbfcbcc4c/turtlebot_laptop_battery-7*.log
[ERROR] [1577884687.060341011]: Kobuki : malformed sub-payload detected. [148][170][94 AA 55 4D 01 0F 08 B4 00 ]
================================================================================REQUIRED process [rviz-10] has died!
process has died [pid 10691, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/asber/catkin_ws/src/cartographer_turtlebot/cartographer_turtlebot/configuration_files/demo_turtlebot.rviz __name:=rviz __log:=/home/asber/.ros/log/e92a60e4-2c98-11ea-ba19-74dfbfcbcc4c/rviz-10.log].
log file: /home/asber/.ros/log/e92a60e4-2c98-11ea-ba19-74dfbfcbcc4c/rviz-10*.log
Initiating shutdown!
================================================================================
[rviz-10] killing on exit
[cmd_vel_mux-6] killing on exit
[bumper2pointcloud-5] killing on exit
[mobile_base-4] killing on exit
[mobile_base_nodelet_manager-3] killing on exit
[robot_state_publisher-1] killing on exit
[diagnostic_aggregator-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

issue describe

ERROR: cannot launch node of type [cartographer_ros/cartographer_node]: can’t locate node [cartographer_node] in package [cartographer_ros]
ERROR: cannot launch node of type [cartographer_turtlebot/cartographer_flat_world_imu_node]: can’t locate node [cartographer_flat_world_imu_node] in package [cartographer_turtlebot]
QXcbConnection: Could not connect to display
[WARN] [1577884685.087973]: Battery : unable to check laptop battery info [/sys/class/power_supply/BAT1/charge_full_design || /sys/class/power_supply/BAT1/energy_full_design does not exist]
[turtlebot_laptop_battery-7] process has finished cleanly
log file: /home/asber/.ros/log/e92a60e4-2c98-11ea-ba19-74dfbfcbcc4c/turtlebot_laptop_battery-7*.log
[ERROR] [1577884687.060341011]: Kobuki : malformed sub-payload detected. [148][170][94 AA 55 4D 01 0F 08 B4 00 ]

according to error “ERROR: cannot launch node of type [cartographer_ros/cartographer_node]: can’t locate node [cartographer_node] in package [cartographer_ros]”

solution
this cartographer turtlebot的编译、安装和运行
I find out in turtlebot 's ~/.bashrc ,I didn’t add
source ~/catkin_ws/install_isolated/setup.bash
into it.

---

after I add source ~/catkin_ws/install_isolated/setup.bash
and catkin_make_isolated --install --use-ninja
result only is:

process[rviz-10]: started with pid [13476]
QXcbConnection: Could not connect to display 
[WARN] [1577885537.037278]: Battery : unable to check laptop battery info [/sys/class/power_supply/BAT1/charge_full_design || /sys/class/power_supply/BAT1/energy_full_design does not exist]
[ INFO] [1577885537.119211151]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files/turtlebot_urg_lidar_2d.lua' for 'turtlebot_urg_lidar_2d.lua'.
================================================================================REQUIRED process [rviz-10] has died!
process has died [pid 13476, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/asber/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files/demo_turtlebot.rviz __name:=rviz __log:=/home/asber/.ros/log/e92a60e4-2c98-11ea-ba19-74dfbfcbcc4c/rviz-10.log].
log file: /home/asber/.ros/log/e92a60e4-2c98-11ea-ba19-74dfbfcbcc4c/rviz-10*.log
Initiating shutdown!
================================================================================
[ INFO] [1577885537.136406252]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1577885537.136470509]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1577885537.150058615]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1577885537.150131028]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1577885537.151076585]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1577885537.151148451]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1577885537.151424999]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1577885537.151507340]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1577885537.151867435]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1577885537.151940810]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1577885537.194845765]: I0101 21:32:17.000000 13450 map_builder_bridge.cc:136] Added trajectory with ID '0'.
[rviz-10] killing on exit
[flat_world_imu_node-9] killing on exit
[cartographer_node-8] killing on exit
[turtlebot_laptop_battery-7] killing on exit
[cmd_vel_mux-6] killing on exit
[bumper2pointcloud-5] killing on exit
[mobile_base-4] killing on exit
[mobile_base_nodelet_manager-3] killing on exit
[diagnostic_aggregator-2] killing on exit
[robot_state_publisher-1] killing on exit
Optimizing: Done.     
Optimizing: Done.     
shutting down processing monitor...
... shutting down processing monitor complete
done

following tips is marked by red,it’s the key

[WARN] [1577885537.037278]: Battery : unable to check laptop battery info [/sys/class/power_supply/BAT1/charge_full_design || /sys/class/power_supply/BAT1/energy_full_design does not exist]
[ INFO] [1577885537.119211151]: I0101 21:32:17.000000 13450 configuration_file_resolver.cc:41] Found '/home/asber/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files/turtlebot_urg_lidar_2d.lua' for 'turtlebot_urg_lidar_2d.lua'.
================================================================================REQUIRED process [rviz-10] has died!
process has died [pid 13476, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/asber/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files/demo_turtlebot.rviz __name:=rviz __log:=/home/asber/.ros/log/e92a60e4-2c98-11ea-ba19-74dfbfcbcc4c/rviz-10.log].
log file: /home/asber/.ros/log/e92a60e4-2c98-11ea-ba19-74dfbfcbcc4c/rviz-10*.log
Initiating shutdown!
================================================================================

REQUIRED process [rviz-10] has died! Initiating shutdown!

[WARN] Battery : unable to check laptop battery info [/ energy_full_design does not exist]

QXcbConnection: Could not connect to display

初步解决方法:https://blog.csdn.net/qq_31159375/article/details/90073967
深入理解:
###此类问题可以归结于:在非图形终端执行了一个GUI程序，导致X11Server在此终端的环境下无法显示图形，需要手动指定X11Server把图形显示到其他的带图形界面的终端。

---

效果小结
在这之后我直接放弃两台电脑 直接用我的电脑放在最上层 lidar放在第二层
效果可以明显看出 会流畅很多，但是最后的地图还是不太正常。
总体来说，好是感觉会好一些。(对比cartoSLAM)