cartgropher建地图,出现问题

最新推荐文章于 2022-08-19 10:31:01 发布
最新推荐文章于 2022-08-19 10:31:01 发布
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分类专栏： cartographer
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cartographer建地图,采用谷歌官网安装进行安装,安装完成后,demo完全都可以跑成功,可是用自己的雷达进行建图时,出现问题:

$ roslaunch cartographer_ros zc_build_map.launch
... logging to /home/zc/.ros/log/1f34d636-e34a-11e8-9b7d-0060e06a405b/roslaunch-zc-11054.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.

started roslaunch server http://zc:35223/

SUMMARY
========

PARAMETERS
 * /robot_description: <...>
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

NODES
  /
    base_to_laser_broadcaster (tf/static_transform_publisher)
    cartographer_node (cartographer_ros/cartographer_node)
    cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [11071]
process[cartographer_node-2]: started with pid [11072]
process[cartographer_occupancy_grid_node-3]: started with pid [11078]
process[base_to_laser_broadcaster-4]: started with pid [11086]
[ INFO] [1541676994.005781399]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/zc_build_map.lua' for 'zc_build_map.lua'.
[ INFO] [1541676994.006124286]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1541676994.006183860]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1541676994.006258424]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1541676994.006300170]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1541676994.006450226]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1541676994.006491885]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1541676994.006558495]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1541676994.006597822]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1541676994.006727725]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1541676994.006776982]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1541676994.020484346]: I1108 19:36:34.000000 11072 map_builder_bridge.cc:134] Added trajectory with ID '0'.
[ INFO] [1541676994.212808286]: I1108 19:36:34.000000 11072 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '621355968000000000'.
[ WARN] [1541676994.213847158]: W1108 19:36:34.000000 11072 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 ms
[ INFO] [1541676994.215562453]: I1108 19:36:34.000000 11072 pose_graph_2d.cc:142] Inserted submap (0, 0).
[ WARN] [1541676994.253293244]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000
[ WARN] [1541676994.293853203]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000
[ WARN] [1541676994.334359385]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000
[ WARN] [1541676994.374953905]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000
[ WARN] [1541676994.415488143]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000
[ WARN] [1541676994.456220691]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000

不太清楚出现以上问题什么原因,找了好久没找到解决办法,麻烦各位大神指导一波,不胜感激.

下面贴出配置文件:

zc_build_map.launch

<launch>
  <param name="/use_sim_time" value="true" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename zc_build_map.lua"
      output="screen">
    <remap from="scan" to="/scan" />
  </node>
   <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
 </launch>

zc_build_map.lua配置文件

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "laser_link",
  published_frame = "laser_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65

return options

打开rviz

没有map主题,只有laser_link,请问这是什么原因.希望可以得到各位 大神的帮助,谢谢

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