Gmapping建图后的定位问题

描述

问题：启动定位命令roslaunch ir100_navigation ir100_navigation.launch map_file:=/home/shansu/Maps/map_201221.yaml后，定位失败，该命令出现黄色错误提示

[ WARN] [1608643242.312506820]: Illegal bounds change, was [tl: (-9.987500, -37.187500), br: (713623846352979940529142984724747568191373312.000000, 23146046965300666183608945726444504251828513585971978454433792.000000)], but is now [tl: (-340282346638528859811704183484516925440.000000, -340282346638528859811704183484516925440.000000), br: (340282346638528859811704183484516925440.000000, 340282346638528859811704183484516925440.000000)]. The offending layer is global_costmap/inflation_layer

[ WARN] [1608645220.767420783]: The origin for the sensor at (-2854495385411919762116571938898990272765493248.00, 23146046367709354040493558439325444449698762638727658063527936.00) is out of map bounds. So, the costmap cannot raytrace for it.

rviz显示错误

rviz: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
Aborted (core dumped)

解决方案

在costmap_common_params.yaml文件添加一行inf_is_valid: true，结果无效

scan:
    data_type: LaserScan
    topic: /scan
    sensor_fram: base_link
    marking: true
    clearing: true
    min_obstacle_height: -0.5
    max_obstacle_height: 0.5
    inf_is_valid: true  # 添加此行

将min_obstacle_height: -0.5更改为min_obstacle_height: 0，成功解决

参考链接

https://blog.csdn.net/u013468614/article/details/83386987