cartographer 坐标系_cartographer建地图报错

首先下载cartographer官网最新代码,安装编译完成,然后开始建图,但是建图过程一直报错,不太清楚什么原因,麻烦知道的大佬给个提示谢谢,

zc_build_map.launch文件

type="robot_state_publisher" />

type="cartographer_node" args="

-configuration_directory $(find cartographer_ros)/configuration_files

-configuration_basename zc_build_map.lua"

output="screen">

type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

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", (或者用"base_link"都试过)

publishedframe = "laser_link",(或者用"base_li