Cart*：古月居attempt to index global ‘SPARSE_POSE_GRAPH‘ (a nil value)

错误：

[FATAL] [1655258275.422582785]: F0615 09:57:55.000000 40943 lua_parameter_dictionary.cc:83] Check failed: status == 0 (2 vs. 0) [string "-- Copyright 2016 The Cartographer Authors..."]:50: attempt to index global 'SPARSE_POSE_GRAPH' (a nil value)
*** Check failure stack trace: ***
    @     0x7fb0676f90cd  google::LogMessage::Fail()
    @     0x7fb0676faf33  google::LogMessage::SendToLog()
    @     0x7fb0676f8c28  google::LogMessage::Flush()
    @     0x7fb0676fb999  google::LogMessageFatal::~LogMessageFatal()
    @     0x55c790c35a37  (unknown)
    @     0x55c790c36df3  (unknown)
    @     0x55c790c370ed  (unknown)
    @     0x55c790c135e5  (unknown)
    @     0x55c790bdcc04  (unknown)
    @     0x55c790bdac14  (unknown)
    @     0x7fb064646c87  __libc_start_main
    @     0x55c790bdc8ca  (unknown)
[cartographer_node-1] process has died [pid 40943, exit code -6, cmd /home/destiny/carto_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/destiny/carto_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename rplidar.lua scan:=scan __name:=cartographer_node __log:=/home/destiny/.ros/log/80511b3a-ec4e-11ec-ad0d-000c2973b98a/cartographer_node-1.log].
log file: /home/destiny/.ros/log/80511b3a-ec4e-11ec-ad0d-000c2973b98a/cartographer_node-1*.log

 原因：新版本cart*代码将SPARSE_POSE_GRAPH改为POSE_GRAPH

修改：参考revo_lds.lua文件修改rplidar.lua文件

将下面内容覆盖原来rplidar.lua内容

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

options = {--新增加一些参数
    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_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--新版本SPARSE_POSE_GRAPH改为POSE_GRAPH
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65

return options

重新编译（每次修改launch文件和lua文件都要重新编译）：

catkin_make_isolated --install --use-ninja