建图时，代表小车（或者雷达）位置的坐标轴突然飘走
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@83454211 是的，加我微信吧，抽空远程后给你看看
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@小鱼 [INFO] [1748386203.898150584] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1748386203.900742144] [rviz2]: OpenGl version: 3.3 (GLSL 3.3)
[rviz2-5] [INFO] [1748386204.342514926] [rviz2]: Stereo is NOT SUPPORTED
[ydlidar_tcp_node-1] [INFO] [1748386207.681149158] [ydlidar_node]: 等待激光雷达TCP连接: 0.0.0.0:8888
[ydlidar_tcp_node-1] [INFO] [1748386207.706139451] [ydlidar_node]: 激光雷达已连接: ('192.168.1.12', 57939)
[ydlidar_tcp_node-1] [INFO] [1748386209.943697588] [ydlidar_node]: 雷达X2数据校验正确,开始解析数据
[cartographer_node-3] [INFO] [1748386210.153783475] [cartographer logger]: I0527 22:50:10.000000 63 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638839830102290294'.
[cartographer_node-3] [INFO] [1748386210.166501683] [cartographer logger]: I0527 22:50:10.000000 63 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing.
[cartographer_node-3] [INFO] [1748386210.363551458] [cartographer logger]: I0527 22:50:10.000000 63 pose_graph_2d.cc:148] Inserted submap (0, 0).
[rviz2-5] [ERROR] [1748386210.916101754] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386210.740100 but the latest data is at time 1748386210.653266, when looking up transform from frame [laser_frame] to frame [map]
[rviz2-5] [INFO] [1748386210.916532461] [rviz2]: Trying to create a map of size 109 x 66 using 1 swatches
[rviz2-5] [ERROR] [1748386211.231362436] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
[rviz2-5] active samplers with a different type refer to the same texture image unit
[ydlidar_tcp_node-1] [INFO] [1748386213.187431963] [ydlidar_node]: /scan话题平均发布速率: 3.33 Hz
[cartographer_node-3] [INFO] [1748386215.325585967] [cartographer logger]: I0527 22:50:15.000000 63 collated_trajectory_builder.cc:81] scan rate: 3.27 Hz 3.06e-01 s +/- 6.11e-02 s (pulsed at 100.74% real time)
[cartographer_node-3] [WARN] [1748386216.045205682] [cartographer logger]: W0527 22:50:15.000000 63 range_data_collator.cc:82] Dropped 14 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386216.285722074] [ydlidar_node]: /scan话题平均发布速率: 3.54 Hz
[ydlidar_tcp_node-1] [INFO] [1748386219.477045950] [ydlidar_node]: /scan话题平均发布速率: 3.13 Hz
[rviz2-5] [INFO] [1748386220.158128278] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1748386210.105 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1748386220.311213102] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1748386210.302 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1748386221.885265190] [rviz2]: Trying to create a map of size 109 x 67 using 1 swatches
[ydlidar_tcp_node-1] [INFO] [1748386222.535384124] [ydlidar_node]: /scan话题平均发布速率: 3.95 Hz
[ydlidar_tcp_node-1] [INFO] [1748386225.870843664] [ydlidar_node]: /scan话题平均发布速率: 3.96 Hz
[cartographer_node-3] [WARN] [1748386228.679486013] [cartographer logger]: W0527 22:50:28.000000 63 range_data_collator.cc:82] Dropped 89 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386228.877491081] [ydlidar_node]: /scan话题平均发布速率: 3.88 Hz
[cartographer_node-3] [INFO] [1748386230.575389683] [cartographer logger]: I0527 22:50:30.000000 63 collated_trajectory_builder.cc:81] scan rate: 3.81 Hz 2.62e-01 s +/- 9.24e-02 s (pulsed at 99.94% real time)
[ydlidar_tcp_node-1] [INFO] [1748386231.915153505] [ydlidar_node]: /scan话题平均发布速率: 3.98 Hz
[rviz2-5] [INFO] [1748386232.015322658] [rviz2]: Trying to create a map of size 110 x 67 using 1 swatches
[ydlidar_tcp_node-1] [INFO] [1748386235.057700291] [ydlidar_node]: /scan话题平均发布速率: 4.43 Hz
[ydlidar_tcp_node-1] [INFO] [1748386238.227375934] [ydlidar_node]: /scan话题平均发布速率: 4.77 Hz
[ydlidar_tcp_node-1] [INFO] [1748386241.390746458] [ydlidar_node]: /scan话题平均发布速率: 4.72 Hz
[ydlidar_tcp_node-1] [INFO] [1748386244.445296126] [ydlidar_node]: /scan话题平均发布速率: 4.59 Hz
[cartographer_node-3] [INFO] [1748386245.639727066] [cartographer logger]: I0527 22:50:45.000000 63 collated_trajectory_builder.cc:81] scan rate: 4.52 Hz 2.21e-01 s +/- 4.43e-02 s (pulsed at 100.03% real time)
[ydlidar_tcp_node-1] [INFO] [1748386247.610468128] [ydlidar_node]: /scan话题平均发布速率: 4.41 Hz
[ydlidar_tcp_node-1] [INFO] [1748386250.599709542] [ydlidar_node]: /scan话题平均发布速率: 4.64 Hz
[cartographer_node-3] [WARN] [1748386251.898125843] [cartographer logger]: W0527 22:50:51.000000 63 range_data_collator.cc:82] Dropped 76 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386253.961684211] [ydlidar_node]: /scan话题平均发布速率: 3.94 Hz
[rviz2-5] [INFO] [1748386254.399089171] [rviz2]: Trying to create a map of size 110 x 125 using 1 swatches
[ydlidar_tcp_node-1] [INFO] [1748386257.114737961] [ydlidar_node]: /scan话题平均发布速率: 4.07 Hz
[ydlidar_tcp_node-1] [INFO] [1748386260.221876099] [ydlidar_node]: /scan话题平均发布速率: 4.53 Hz
[cartographer_node-3] [INFO] [1748386260.702348070] [cartographer logger]: I0527 22:51:00.000000 63 collated_trajectory_builder.cc:81] scan rate: 4.31 Hz 2.32e-01 s +/- 6.15e-02 s (pulsed at 100.03% real time)
[ydlidar_tcp_node-1] [INFO] [1748386263.425381731] [ydlidar_node]: /scan话题平均发布速率: 4.36 Hz
[ydlidar_tcp_node-1] [INFO] [1748386266.623247525] [ydlidar_node]: /scan话题平均发布速率: 4.08 Hz
[ydlidar_tcp_node-1] [INFO] [1748386269.763052318] [ydlidar_node]: /scan话题平均发布速率: 4.46 Hz
[ydlidar_tcp_node-1] [INFO] [1748386272.900839798] [ydlidar_node]: /scan话题平均发布速率: 3.80 Hz
[cartographer_node-3] [INFO] [1748386275.789580498] [cartographer logger]: I0527 22:51:15.000000 63 collated_trajectory_builder.cc:81] scan rate: 4.18 Hz 2.39e-01 s +/- 5.21e-02 s (pulsed at 99.85% real time)
[ydlidar_tcp_node-1] [INFO] [1748386276.073274723] [ydlidar_node]: /scan话题平均发布速率: 4.11 Hz
[cartographer_node-3] [WARN] [1748386277.321291933] [cartographer logger]: W0527 22:51:17.000000 63 range_data_collator.cc:82] Dropped 67 earlier points.
[cartographer_node-3] [WARN] [1748386277.411133221] [cartographer logger]: W0527 22:51:17.000000 63 range_data_collator.cc:82] Dropped 100 earlier points.
[cartographer_node-3] [WARN] [1748386277.528436658] [cartographer logger]: W0527 22:51:17.000000 63 range_data_collator.cc:82] Dropped 26 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386279.394063985] [ydlidar_node]: /scan话题平均发布速率: 4.87 Hz
[cartographer_node-3] [WARN] [1748386280.471066154] [cartographer logger]: W0527 22:51:20.000000 63 range_data_collator.cc:82] Dropped 38 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386282.435072138] [ydlidar_node]: /scan话题平均发布速率: 4.53 Hz
[ydlidar_tcp_node-1] [INFO] [1748386285.671362432] [ydlidar_node]: /scan话题平均发布速率: 4.33 Hz
[ydlidar_tcp_node-1] [INFO] [1748386288.979496224] [ydlidar_node]: /scan话题平均发布速率: 3.66 Hz
[cartographer_node-3] [WARN] [1748386290.136264867] [cartographer logger]: W0527 22:51:30.000000 63 range_data_collator.cc:82] Dropped 25 earlier points.
[rviz2-5] [INFO] [1748386290.929949782] [rviz2]: Trying to create a map of size 110 x 134 using 1 swatches
[cartographer_node-3] [INFO] [1748386290.958328155] [cartographer logger]: I0527 22:51:30.000000 63 collated_trajectory_builder.cc:81] scan rate: 4.30 Hz 2.33e-01 s +/- 9.77e-02 s (pulsed at 99.87% real time)
[ydlidar_tcp_node-1] [INFO] [1748386291.961803424] [ydlidar_node]: /scan话题平均发布速率: 4.32 Hz
[cartographer_node-3] [WARN] [1748386292.408242699] [cartographer logger]: W0527 22:51:32.000000 63 range_data_collator.cc:82] Dropped 34 earlier points.
[cartographer_node-3] [WARN] [1748386292.897250287] [cartographer logger]: W0527 22:51:32.000000 63 range_data_collator.cc:82] Dropped 102 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386295.451737627] [ydlidar_node]: /scan话题平均发布速率: 4.96 Hz
[cartographer_node-3] [WARN] [1748386296.202855554] [cartographer logger]: W0527 22:51:36.000000 63 range_data_collator.cc:82] Dropped 149 earlier points.
[cartographer_node-3] [WARN] [1748386296.269556392] [cartographer logger]: W0527 22:51:36.000000 63 range_data_collator.cc:82] Dropped 199 earlier points.
[cartographer_node-3] [WARN] [1748386296.332727572] [cartographer logger]: W0527 22:51:36.000000 63 range_data_collator.cc:82] Dropped 175 earlier points.
[cartographer_node-3] [WARN] [1748386296.453230698] [cartographer logger]: W0527 22:51:36.000000 63 range_data_collator.cc:82] Dropped 83 earlier points.
[cartographer_node-3] [WARN] [1748386296.663253208] [cartographer logger]: W0527 22:51:36.000000 63 range_data_collator.cc:82] Dropped 91 earlier points.
[cartographer_node-3] [WARN] [1748386297.062278430] [cartographer logger]: W0527 22:51:37.000000 63 range_data_collator.cc:82] Dropped 52 earlier points.
[cartographer_node-3] [WARN] [1748386297.458010633] [cartographer logger]: W0527 22:51:37.000000 63 range_data_collator.cc:82] Dropped 38 earlier points.
[cartographer_node-3] [WARN] [1748386297.732166858] [cartographer logger]: W0527 22:51:37.000000 63 range_data_collator.cc:82] Dropped 57 earlier points.
[cartographer_node-3] [WARN] [1748386297.971079541] [cartographer logger]: W0527 22:51:37.000000 63 range_data_collator.cc:82] Dropped 101 earlier points.
[cartographer_node-3] [WARN] [1748386298.201254083] [cartographer logger]: W0527 22:51:38.000000 63 range_data_collator.cc:82] Dropped 125 earlier points.
[cartographer_node-3] [WARN] [1748386298.304743346] [cartographer logger]: W0527 22:51:38.000000 63 range_data_collator.cc:82] Dropped 73 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386298.481183657] [ydlidar_node]: /scan话题平均发布速率: 7.43 Hz
[cartographer_node-3] [WARN] [1748386298.672461753] [cartographer logger]: W0527 22:51:38.000000 63 range_data_collator.cc:82] Dropped 139 earlier points.
[cartographer_node-3] [WARN] [1748386298.907149797] [cartographer logger]: W0527 22:51:38.000000 63 range_data_collator.cc:82] Dropped 44 earlier points.
[cartographer_node-3] [WARN] [1748386299.006671824] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 92 earlier points.
[cartographer_node-3] [WARN] [1748386299.100826877] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 83 earlier points.
[cartographer_node-3] [WARN] [1748386299.198330827] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 85 earlier points.
[cartographer_node-3] [WARN] [1748386299.299248932] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 70 earlier points.
[cartographer_node-3] [WARN] [1748386299.405309934] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 85 earlier points.
[cartographer_node-3] [WARN] [1748386299.514653492] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 31 earlier points.
[cartographer_node-3] [WARN] [1748386299.642199906] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1748386300.087713355] [cartographer logger]: W0527 22:51:40.000000 63 range_data_collator.cc:82] Dropped 6 earlier points.
[cartographer_node-3] [WARN] [1748386300.333157347] [cartographer logger]: W0527 22:51:40.000000 63 range_data_collator.cc:82] Dropped 33 earlier points.
[cartographer_node-3] [WARN] [1748386301.026097163] [cartographer logger]: W0527 22:51:41.000000 63 range_data_collator.cc:82] Dropped 60 earlier points.
[cartographer_node-3] [WARN] [1748386301.155192873] [cartographer logger]: W0527 22:51:41.000000 63 range_data_collator.cc:82] Dropped 1 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386301.486248429] [ydlidar_node]: /scan话题平均发布速率: 7.64 Hz
[cartographer_node-3] [INFO] [1748386301.578815240] [cartographer logger]: I0527 22:51:41.000000 112 pose_graph_2d.cc:538] Remaining work items in queue: 0
[cartographer_node-3] [INFO] [1748386301.669912568] [cartographer logger]: I0527 22:51:41.000000 112 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1748386301.803322267] [cartographer logger]: I0527 22:51:41.000000 112 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
[rviz2-5] [INFO] [1748386301.956109460] [rviz2]: Trying to create a map of size 110 x 135 using 1 swatches
[cartographer_node-3] [WARN] [1748386302.361234014] [cartographer logger]: W0527 22:51:42.000000 112 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 1. Bounding to maximum number available.
[cartographer_node-3] [WARN] [1748386302.393638629] [cartographer logger]: W0527 22:51:42.000000 63 range_data_collator.cc:82] Dropped 11 earlier points.
[cartographer_node-3] [WARN] [1748386302.634814276] [cartographer logger]: W0527 22:51:42.000000 63 range_data_collator.cc:82] Dropped 20 earlier points.
[cartographer_node-3] [WARN] [1748386304.379397828] [cartographer logger]: W0527 22:51:44.000000 63 range_data_collator.cc:82] Dropped 83 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386304.563134092] [ydlidar_node]: /scan话题平均发布速率: 6.49 Hz
[cartographer_node-3] [WARN] [1748386304.871897758] [cartographer logger]: W0527 22:51:44.000000 63 range_data_collator.cc:82] Dropped 2 earlier points.
[cartographer_node-3] [WARN] [1748386305.101198699] [cartographer logger]: W0527 22:51:45.000000 63 range_data_collator.cc:82] Dropped 93 earlier points.
[cartographer_node-3] [WARN] [1748386305.845177291] [cartographer logger]: W0527 22:51:45.000000 63 range_data_collator.cc:82] Dropped 108 earlier points.
[cartographer_node-3] [INFO] [1748386305.979379279] [cartographer logger]: I0527 22:51:45.000000 63 collated_trajectory_builder.cc:81] scan rate: 6.54 Hz 1.53e-01 s +/- 6.06e-02 s (pulsed at 99.89% real time)
[cartographer_node-3] [WARN] [1748386305.989169170] [cartographer logger]: W0527 22:51:45.000000 63 range_data_collator.cc:82] Dropped 45 earlier points.
[cartographer_node-3] [WARN] [1748386306.950180421] [cartographer logger]: W0527 22:51:46.000000 63 range_data_collator.cc:82] Dropped 21 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386307.600935709] [ydlidar_node]: /scan话题平均发布速率: 6.59 Hz
[cartographer_node-3] [WARN] [1748386308.232610381] [cartographer logger]: W0527 22:51:48.000000 63 range_data_collator.cc:82] Dropped 129 earlier points.
[cartographer_node-3] [WARN] [1748386308.347894198] [cartographer logger]: W0527 22:51:48.000000 63 range_data_collator.cc:82] Dropped 50 earlier points.
[cartographer_node-3] [WARN] [1748386308.863779240] [cartographer logger]: W0527 22:51:48.000000 63 range_data_collator.cc:82] Dropped 225 earlier points.
[cartographer_node-3] [WARN] [1748386308.935215449] [cartographer logger]: W0527 22:51:48.000000 63 range_data_collator.cc:82] Dropped 149 earlier points.
[cartographer_node-3] [WARN] [1748386309.170824563] [cartographer logger]: W0527 22:51:49.000000 63 range_data_collator.cc:82] Dropped 84 earlier points.
[cartographer_node-3] [WARN] [1748386309.415665134] [cartographer logger]: W0527 22:51:49.000000 63 range_data_collator.cc:82] Dropped 42 earlier points.
[cartographer_node-3] [WARN] [1748386310.057521088] [cartographer logger]: W0527 22:51:50.000000 63 range_data_collator.cc:82] Dropped 9 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386310.660282779] [ydlidar_node]: /scan话题平均发布速率: 7.19 Hz
[cartographer_node-3] [WARN] [1748386311.511286213] [cartographer logger]: W0527 22:51:51.000000 63 range_data_collator.cc:82] Dropped 4 earlier points.
[cartographer_node-3] [WARN] [1748386312.155091369] [cartographer logger]: W0527 22:51:52.000000 63 range_data_collator.cc:82] Dropped 73 earlier points.
[cartographer_node-3] [WARN] [1748386312.425379024] [cartographer logger]: W0527 22:51:52.000000 63 range_data_collator.cc:82] Dropped 9 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386313.757954368] [ydlidar_node]: /scan话题平均发布速率: 5.81 Hz
[cartographer_node-3] [WARN] [1748386314.142317461] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 226 earlier points.
[cartographer_node-3] [WARN] [1748386314.225940556] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 124 earlier points.
[cartographer_node-3] [WARN] [1748386314.293968451] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 188 earlier points.
[cartographer_node-3] [WARN] [1748386314.375690432] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 144 earlier points.
[cartographer_node-3] [WARN] [1748386314.560007968] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 166 earlier points.
[cartographer_node-3] [WARN] [1748386314.642185331] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 144 earlier points.
[cartographer_node-3] [WARN] [1748386314.725917452] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 125 earlier points.
[cartographer_node-3] [WARN] [1748386314.807960306] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 115 earlier points.
[cartographer_node-3] [WARN] [1748386314.899011986] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 89 earlier points.
[cartographer_node-3] [WARN] [1748386314.959381789] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 202 earlier points.
[rviz2-5] [ERROR] [1748386314.986566515] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386314.924923 but the latest data is at time 1748386314.924923, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1748386315.080736354] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 46 earlier points.
[cartographer_node-3] [WARN] [1748386315.200919780] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 32 earlier points.
[cartographer_node-3] [WARN] [1748386315.282948497] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 87 earlier points.
[cartographer_node-3] [WARN] [1748386315.377415135] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 125 earlier points.
[cartographer_node-3] [INFO] [1748386315.431372257] [cartographer logger]: I0527 22:51:55.000000 63 motion_filter.cc:42] Motion filter reduced the number of nodes to 9.2%.
[cartographer_node-3] [WARN] [1748386315.621763678] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 67 earlier points.
[cartographer_node-3] [WARN] [1748386315.910384276] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 179 earlier points.
[cartographer_node-3] [WARN] [1748386316.329432577] [cartographer logger]: W0527 22:51:56.000000 63 sensor_bridge.cpp:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 638839831165304134 is not before current subdivision time 638839831164049085
[rviz2-5] [ERROR] [1748386316.342532513] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386316.530413 but the latest data is at time 1748386316.530413, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1748386316.532872021] [cartographer logger]: W0527 22:51:56.000000 63 range_data_collator.cc:82] Dropped 64 earlier points.
[cartographer_node-3] [WARN] [1748386316.635931083] [cartographer logger]: W0527 22:51:56.000000 63 sensor_bridge.cpp:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 638839831167184014 is not before current subdivision time 638839831167168133
[rviz2-5] [INFO] [1748386316.870429874] [rviz2]: Trying to create a map of size 165 x 145 using 1 swatches
[ydlidar_tcp_node-1] [INFO] [1748386316.990381858] [ydlidar_node]: /scan话题平均发布速率: 8.03 Hz
[rviz2-5] [ERROR] [1748386317.112237991] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386317.162199 but the latest data is at time 1748386317.162199, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1748386317.112762653] [cartographer logger]: W0527 22:51:57.000000 63 range_data_collator.cc:82] Dropped 185 earlier points.
[cartographer_node-3] [WARN] [1748386317.568308742] [cartographer logger]: W0527 22:51:57.000000 63 range_data_collator.cc:82] Dropped 167 earlier points.
[rviz2-5] [INFO] [1748386317.970266862] [rviz2]: Trying to create a map of size 165 x 150 using 1 swatches
[cartographer_node-3] [WARN] [1748386318.131391876] [cartographer logger]: W0527 22:51:58.000000 63 range_data_collator.cc:82] Dropped 141 earlier points.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_node-3] [INFO] [1748386318.542855501] [rclcpp]: signal_handler(signum=2)
[rviz2-5] [INFO] [1748386318.555767231] [rclcpp]: signal_handler(signum=2)
[rviz2-5] [ERROR] [1748386318.622548205] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386318.627380 but the latest data is at time 1748386318.627380, when looking up transform from frame [laser_frame] to frame [map]
[static_transform_publisher-2] [INFO] [1748386318.541516715] [rclcpp]: signal_handler(signum=2)
[ydlidar_tcp_node-1] Traceback (most recent call last):
[ydlidar_tcp_node-1] File "/workspace/install/ydlidar/lib/ydlidar/ydlidar_tcp_node", line 33, in <module>
[ydlidar_tcp_node-1] sys.exit(load_entry_point('ydlidar==0.0.0', 'console_scripts', 'ydlidar_tcp_node')())
[ydlidar_tcp_node-1] File "/workspace/install/ydlidar/lib/python3.10/site-packages/ydlidar/ydlidar_tcp_node.py", line 322, in main
^C[ERROR] [static_transform_publisher-2]: process has died [pid 61, exit code -2, cmd '/opt/ros/humble/lib/tf2_ros/static_transform_publisher 0.0 0.0 0.0 0 0 0 base_link laser_frame --ros-args -r __node:=static_tf_pub_laser'].
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_occupancy_grid_node-4] [INFO] [1748386318.540069465] [rclcpp]: signal_handler(signum=2)
[cartographer_occupancy_grid_node-4] [INFO] [1748386318.759027676] [rclcpp]: signal_handler(signum=2)
[ERROR] [ydlidar_tcp_node-1]: process has died [pid 59, exit code -2, cmd '/workspace/install/ydlidar/lib/ydlidar/ydlidar_tcp_node --ros-args'].
[cartographer_node-3] [INFO] [1748386318.758496873] [rclcpp]: signal_handler(signum=2)
[rviz2-5] [INFO] [1748386318.759618281] [rclcpp]: signal_handler(signum=2)
[rviz2-5] [INFO] [1748386319.002526367] [rclcpp]: signal_handler(signum=2)
[cartographer_node-3] [INFO] [1748386319.004224038] [rclcpp]: signal_handler(signum=2)
[ERROR] [cartographer_occupancy_grid_node-4]: process has died [pid 65, exit code -2, cmd '/opt/ros/humble/lib/cartographer_ros/cartographer_occupancy_grid_node -resolution 0.05 -publish_period_sec 1.0 --ros-args -r __node:=cartographer_occupancy_grid_node --params-file /tmp/launch_params_5jz7bk5r'].
[ydlidar_tcp_node-1] Traceback (most recent call last):
File "/workspace/install/ydlidar/lib/ydlidar/ydlidar_tcp_node", line 33, in <module>
sys.exit(load_entry_point('ydlidar==0.0.0', 'console_scripts', 'ydlidar_tcp_node')())
File "/workspace/install/ydlidar/lib/python3.10/site-packages/ydlidar/ydlidar_tcp_node.py", line 322, in main
rclpy.spin(node)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 222, in spin
executor.spin_once()
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 710, in spin_once
handler()
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in call
self._handler.send(None)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 418, in handler
await call_coroutine(entity, arg)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 332, in _execute_timer
await await_or_execute(tmr.callback)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
return callback(*args)
File "/workspace/install/ydlidar/lib/python3.10/site-packages/ydlidar/ydlidar_tcp_node.py", line 198, in process_serial
data = self.conn.recv(128)
KeyboardInterrupt[cartographer_node-3] [INFO] [1748386319.785136281] [cartographer logger]: I0527 22:51:59.000000 63 node.cpp:569] Shutdown the subscriber of [scan]
[cartographer_node-3] [INFO] [1748386319.789104549] [cartographer logger]: I0527 22:51:59.000000 63 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'...
[cartographer_node-3] [INFO] [1748386319.813298255] [cartographer logger]: I0527 22:51:59.000000 110 pose_graph_2d.cc:538] Remaining work items in queue: 0
[cartographer_node-3] [INFO] [1748386319.815433745] [cartographer logger]: I0527 22:51:59.000000 110 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1748386319.815485192] [cartographer logger]: I0527 22:51:59.000000 110 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
[cartographer_node-3] [INFO] [1748386319.818841736] [cartographer logger]: I0527 22:51:59.000000 63 map_builder_bridge.cpp:161] Running final trajectory optimization...
[cartographer_node-3] [WARN] [1748386319.844437431] [cartographer logger]: W0527 22:51:59.000000 110 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 1. Bounding to maximum number available.
[cartographer_node-3] [INFO] [1748386319.867777206] [cartographer logger]: I0527 22:51:59.000000 110 pose_graph_2d.cc:538] Remaining work items in queue: 1
[cartographer_node-3] [INFO] [1748386319.880679975] [cartographer logger]: I0527 22:51:59.000000 112 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1748386319.890536297] [cartographer logger]: I0527 22:51:59.000000 112 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
[cartographer_node-3] [WARN] [1748386319.891651290] [cartographer logger]: W0527 22:51:59.000000 112 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 1. Bounding to maximum number available.
[cartographer_node-3] [INFO] [1748386319.925484778] [cartographer logger]: I0527 22:51:59.000000 113 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1748386319.941271805] [cartographer logger]: I0527 22:51:59.000000 113 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
Optimizing: Done.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_node-3] [INFO] [1748386320.212669205] [rclcpp]: signal_handler(signum=2)
[ERROR] [rviz2-5]: process has died [pid 67, exit code -2, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /workspace/launch/config/map.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_n115xcz7'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_node-3] [INFO] [1748386320.443043298] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_node-3] [INFO] [1748386320.657427861] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_node-3] [INFO] [1748386322.024210670] [rclcpp]: signal_handler(signum=2)
[cartographer_node-3] [INFO] [1748386323.121310943] [cartographer logger]: I0527 22:52:03.000000 111 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1748386323.124938260] [cartographer logger]: I0527 22:52:03.000000 111 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
Optimizing: Done. -
@83454211 在 建图时，代表小车（或者雷达）位置的坐标轴突然飘走 中说：
[cartographer_node-3] [WARN] [1748386314.959381789] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 202 earlier points.
[rviz2-5] [ERROR] [1748386314.986566515] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386314.924923 but the latest data is at time 1748386314.924923, when looking up transform from frame [laser_frame] to frame [map][cartographer_node-3] [WARN] [1748386314.959381789] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 202 earlier points.
[rviz2-5] [ERROR] [1748386314.986566515] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386314.924923 but the latest data is at time 1748386314.924923, when looking up transform from frame [laser_frame] to frame [map] -
@小鱼 您好我有相同问题，请问如何解决的
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@小鱼 请问坐标漂走的问题，最后是如何解决的。我们遇到相同的问题。
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大佬 解决了吗 我也遇到了同样的问题
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请问怎么解决呢？
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我也是遇到了同样的问题，请问怎么解决
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@1119634935 我也是遇到了同样的问题
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@840485397 在 建图时，代表小车（或者雷达）位置的坐标轴突然飘走 中说：
@1119634935 我也是遇到了同样的问题
我也遇到了同样的问题 然后问ai说是因为雷达提供的点云信息的时间戳间隔不是固定的而且不是按照数据生成的时间生成而是按照发出或者主机接受到的时间来生成的，所以两帧数据可能会被认为是同一帧然后drop掉，然后就丢失定位了。我估计和生成时间戳的驱动或者固件有关系，但是这个我们完全没办法改阿
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我也是，请问怎么解决？？能否加联系方式讨论一下？
