Cartographer_ros+rplidar 2D建图遇到的问题【1】

问题

WARN Could not compute submap fading: “base_link” passed to lookupTransform argument source_frame does not exist.

解决方法

1. 打开demo_2d.rviz (在carto_ws/src/cartographer_ros/cartographer_ros/configuration_files/demo_2d.rviz)；
2. 找到Submaps，修改Tracking frame为laser

- Class: Submaps
  Enabled: true
  Name: Submaps
  Submap query service: /submap_query
  Topic: /submap_list
  Tracking frame: laser
  #Tracking frame: base_link
  Unreliable: false
  Value: true`；

3. 进入工作空间（carto_ws）进行编译

catkin_make_isolated --install --use-ninja

4.运行roslaunch cartographer_ros <.launch>，不再报错

参考链接

链接: Github_Cartohrapher_ros.