用rplidar建图 运行rbx1_nav/gmapping_demo.launch报错

1.rplidar开启

2.turtlrbot bringup

3. 运行 roslaunch rbx1_nav gmapping_demo.launch 报如下错误：

 MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.

 

参考：https://answers.ros.org/question/246928/messagefilter-dropped-100-of-messages/

和问题 gmapping works in Gazebo but not on robot : https://answers.ros.org/question/218849/gmapping-works-in-gazebo-but-not-on-robot/

解决办法：

1.复制gmapping.launch 文件为gmapping_laser.launch

在 <arg name="scan_topic" default="scan" /> 下添加：

<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 base_link laser 100" />

 2. 改gmapping.demo  应用gmapping_laser.launch。

转载于:https://www.cnblogs.com/Charlene-HRI/p/8669109.html