cartographer仿真出现建筑与rviz显示地图方位不一致

量子之海里的卡夫卡

在gazebo平台进行仿真，大范围建图时出现了重影，建筑与建筑之间方位不一致（rviz显示与gazebo平台）的问题

背景：

作为一个本科毕设，需要实现在室外进行slam建图与导航，现在是需要使用仿真模拟室外环境并使用cartographer算法进行建图

问题描述：

在gazebo平台进行仿真的时候，我建立了一个较大的world模型（模拟室外环境），在使用cartographer算法进行建图时，我先扫描了其中一个建筑（用一个方块代替），之后又扫描了另一个模型（用圆柱代替），两个建筑相距较远，会出现雷达扫描范围超了的情况。在扫描了两个建筑之后，我再返回去扫描一开始的扫描过的建筑（方块），rviz显示会多出一个方块，且方位并不准确，不会回环

具体细节：

硬件平台：rk3588
系统版本：Ubuntu 20.04
ros版本： foxy
一切步骤都按照文档的来的中间无任何报错

结果图如下图所示：

且在运行launch文件后，如果初始状态下，雷达范围内无任何建筑的时候，rviz会显示map没有接收到，map会显示状态出错如下图所示

在加入新的建筑后立马恢复正常

在回复正常后 tf输如下图所示

下面是gazebo日志：

orangepi@orangepi5plus:~/fishbot_ws$ ros2 launch fishbot_description gazebo.launch.py 
[INFO] [launch]: All log files can be found below /home/orangepi/.ros/log/2024-04-07-21-18-24-481081-orangepi5plus-87094
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [87096]
[INFO] [gazebo-2]: process started with pid [87098]
[INFO] [spawn_entity.py-3]: process started with pid [87100]
[robot_state_publisher-1] [WARN] [1712495904.633827192] [robot_state_publisher]: No robot_description parameter, but command-line argument available.  Assuming argument is name of URDF file.  This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 5 children
[robot_state_publisher-1] Link caster_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link laser_link had 0 children
[robot_state_publisher-1] Link left_wheel_link had 0 children
[robot_state_publisher-1] Link right_wheel_link had 0 children
[robot_state_publisher-1] [INFO] [1712495904.636303999] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1712495904.636348040] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1712495904.636356790] [robot_state_publisher]: got segment caster_link
[robot_state_publisher-1] [INFO] [1712495904.636365249] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1712495904.636372832] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1712495904.636379832] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1712495904.636386832] [robot_state_publisher]: got segment right_wheel_link
[spawn_entity.py-3] [INFO] [1712495905.119205472] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1712495905.119660175] [spawn_entity]: Loading entity XML from file /home/orangepi/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_gazebo.urdf
[spawn_entity.py-3] [INFO] [1712495905.122507103] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1712495905.122863516] [spawn_entity]: Waiting for service /spawn_entity
[gazebo-2] Gazebo multi-robot simulator, version 11.11.0
[gazebo-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-2] Released under the Apache 2 License.
[gazebo-2] http://gazebosim.org
[gazebo-2] 
[gazebo-2] Gazebo multi-robot simulator, version 11.11.0
[gazebo-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-2] Released under the Apache 2 License.
[gazebo-2] http://gazebosim.org
[gazebo-2] 
[gazebo-2] libGL error: failed to create dri screen
[gazebo-2] libGL error: failed to load driver: rockchip
[gazebo-2] libGL error: failed to create dri screen
[gazebo-2] libGL error: failed to load driver: rockchip
[gazebo-2] libGL error: failed to create dri screen
[gazebo-2] libGL error: failed to load driver: rockchip
[gazebo-2] libGL error: failed to create dri screen
[gazebo-2] libGL error: failed to load driver: rockchip
[gazebo-2] [Msg] Waiting for master.
[gazebo-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-2] [Msg] Publicized address: 192.168.123.192
[gazebo-2] [Msg] Loading world file [/home/orangepi/fishbot_ws/install/fishbot_description/share/fishbot_description/world/world.world]
[gazebo-2] [Wrn] [OBJLoader.cc:80] Both `d` and `Tr` parameters defined for "Ambulance". Use the value of `d` for dissolve (line 8 in .mtl.)
[gazebo-2] Both `d` and `Tr` parameters defined for "Firetruck_Wheels". Use the value of `d` for dissolve (line 22 in .mtl.)
[gazebo-2] 
[spawn_entity.py-3] [INFO] [1712495908.133287593] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-3] [INFO] [1712495908.642843695] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[gazebo-2] libGL error: failed to create dri screen
[gazebo-2] libGL error: failed to load driver: rockchip
[gazebo-2] [INFO] [1712495908.785244622] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
[gazebo-2] [INFO] [1712495908.786096279] [diff_drive]: Wheel pair 1 diameter set to [0.065000m]
[gazebo-2] [INFO] [1712495908.788233006] [diff_drive]: Subscribed to [/cmd_vel]
[gazebo-2] [INFO] [1712495908.791125725] [diff_drive]: Advertise odometry on [/odom]
[gazebo-2] [INFO] [1712495908.793320785] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 87100]
[gazebo-2] [INFO] [1712495908.809913815] [fishbot_joint_state]: Going to publish joint [right_wheel_joint]
[gazebo-2] [INFO] [1712495908.809994314] [fishbot_joint_state]: Going to publish joint [left_wheel_joint]
[gazebo-2] libGL error: failed to create dri screen
[gazebo-2] libGL error: failed to load driver: rockchip
[gazebo-2] [Msg] Waiting for master.
[gazebo-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-2] [Msg] Publicized address: 192.168.123.192
[gazebo-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/orangepi/.gazebo/models/person_walking"
[gazebo-2] [Wrn] [OBJLoader.cc:80] Both `d` and `Tr` parameters defined for "Ambulance". Use the value of `d` for dissolve (line 8 in .mtl.)
[gazebo-2] Both `d` and `Tr` parameters defined for "Firetruck_Wheels". Use the value of `d` for dissolve (line 22 in .mtl.)
[gazebo-2] 
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1712496034.582995492] [rclcpp]: signal_handler(signal_value=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 87096]
[ERROR] [gazebo-2]: process has died [pid 87098, exit code 255, cmd 'gazebo --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.so /home/orangepi/fishbot_ws/install/fishbot_description/share/fishbot_description/world/world.world'].
[gazebo-2] 
[gazebo-2]

下面是rviz的日志：

[occupancy_grid_node-2] [WARN] [1712495930.847788183] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [1712495931.347832180] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [1712495931.847851676] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[cartographer_node-1] [WARN] [1712495932.021012314] [cartographer_ros]: W0407 21:18:52.000000 87157 ordered_multi_queue.cc:155] Queue waiting for data: (0, scan)
[occupancy_grid_node-2] [WARN] [1712495932.347814298] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [1712495932.847797920] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [1712495933.347766959] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [1712495933.847759914] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [1712495934.347715537] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [1712495934.847811157] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[cartographer_node-1] [WARN] [1712495934.870992283] [cartographer_ros]: W0407 21:18:54.000000 87157 ordered_multi_queue.cc:155] Queue waiting for data: (0, scan)
[cartographer_node-1] [INFO] [1712495935.291487968] [cartographer_ros]: I0407 21:18:55.000000 87157 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '621355972129980000'.
[cartographer_node-1] [INFO] [1712495935.302785847] [cartographer_ros]: I0407 21:18:55.000000 87157 collated_trajectory_builder.cc:72] odom rate: unknown
[cartographer_node-1] [INFO] [1712495935.302835721] [cartographer_ros]: I0407 21:18:55.000000 87157 local_trajectory_builder_2d.cc:295] Extrapolator not yet initialized.
[cartographer_node-1] [WARN] [1712495935.303591713] [cartographer_ros]: W0407 21:18:55.000000 87157 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 ms
[occupancy_grid_node-2] [WARN] [1712495935.347781071] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[rviz2-3] [INFO] [1712495948.352420272] [rviz2]: Trying to create a map of size 86 x 85 using 1 swatches
[rviz2-3] [ERROR] [1712495948.357629091] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result : 
[rviz2-3] active samplers with a different type refer to the same texture image unit
[cartographer_node-1] [INFO] [1712495950.459108861] [cartographer_ros]: I0407 21:19:10.000000 87157 collated_trajectory_builder.cc:72] odom rate: 29.41 Hz 3.40e-02 s +/- 9.03e-17 s (pulsed at 74.13% real time)
[cartographer_node-1] [INFO] [1712495950.459216193] [cartographer_ros]: I0407 21:19:10.000000 87157 collated_trajectory_builder.cc:72] scan rate: 4.99 Hz 2.00e-01 s +/- 1.93e-03 s (pulsed at 73.82% real time)
[rviz2-3] [INFO] [1712495956.878398730] [rviz2]: Trying to create a map of size 86 x 86 using 1 swatches
[cartographer_node-1] [INFO] [1712495965.696076425] [cartographer_ros]: I0407 21:19:25.000000 87157 collated_trajectory_builder.cc:72] odom rate: 29.41 Hz 3.40e-02 s +/- 7.64e-17 s (pulsed at 72.14% real time)
[cartographer_node-1] [INFO] [1712495965.696219632] [cartographer_ros]: I0407 21:19:25.000000 87157 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 1.35e-03 s (pulsed at 72.10% real time)
[rviz2-3] [INFO] [1712495969.877722654] [rviz2]: Trying to create a map of size 87 x 86 using 1 swatches
[rviz2-3] [INFO] [1712495970.870254811] [rviz2]: Trying to create a map of size 87 x 89 using 1 swatches
[rviz2-3] [INFO] [1712495972.374432173] [rviz2]: Trying to create a map of size 87 x 91 using 1 swatches
[rviz2-3] [INFO] [1712495975.870259904] [rviz2]: Trying to create a map of size 89 x 91 using 1 swatches
[rviz2-3] [INFO] [1712495976.357694994] [rviz2]: Trying to create a map of size 95 x 91 using 1 swatches
[rviz2-3] [INFO] [1712495976.861545783] [rviz2]: Trying to create a map of size 97 x 91 using 1 swatches
[rviz2-3] [INFO] [1712495977.373990438] [rviz2]: Trying to create a map of size 100 x 91 using 1 swatches
[rviz2-3] [INFO] [1712495977.853808443] [rviz2]: Trying to create a map of size 102 x 91 using 1 swatches
[rviz2-3] [INFO] [1712495978.366066725] [rviz2]: Trying to create a map of size 103 x 91 using 1 swatches
[rviz2-3] [INFO] [1712495978.894650289] [rviz2]: Trying to create a map of size 105 x 91 using 1 swatches
[cartographer_node-1] [INFO] [1712495980.724580231] [cartographer_ros]: I0407 21:19:40.000000 87157 collated_trajectory_builder.cc:72] odom rate: 29.41 Hz 3.40e-02 s +/- 9.03e-17 s (pulsed at 74.42% real time)
[cartographer_node-1] [INFO] [1712495980.724741229] [cartographer_ros]: I0407 21:19:40.000000 87157 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 7.33e-04 s (pulsed at 74.47% real time)
[rviz2-3] [INFO] [1712495981.374233035] [rviz2]: Trying to create a map of size 106 x 91 using 1 swatches
[rviz2-3] [INFO] [1712495983.872206624] [rviz2]: Trying to create a map of size 107 x 91 using 1 swatches
[rviz2-3] [INFO] [1712495984.861788313] [rviz2]: Trying to create a map of size 107 x 99 using 1 swatches
[rviz2-3] [INFO] [1712495985.390027131] [rviz2]: Trying to create a map of size 107 x 103 using 1 swatches
[rviz2-3] [INFO] [1712495985.874998831] [rviz2]: Trying to create a map of size 107 x 105 using 1 swatches
[rviz2-3] [INFO] [1712495986.349664892] [rviz2]: Trying to create a map of size 107 x 108 using 1 swatches
[rviz2-3] [INFO] [1712495986.861729217] [rviz2]: Trying to create a map of size 107 x 111 using 1 swatches
[rviz2-3] [INFO] [1712495989.880081584] [rviz2]: Trying to create a map of size 107 x 112 using 1 swatches
[rviz2-3] [INFO] [1712495990.877800685] [rviz2]: Trying to create a map of size 107 x 113 using 1 swatches
[cartographer_node-1] [INFO] [1712495995.915635705] [cartographer_ros]: I0407 21:19:55.000000 87157 collated_trajectory_builder.cc:72] odom rate: 29.41 Hz 3.40e-02 s +/- 9.03e-17 s (pulsed at 73.73% real time)
[cartographer_node-1] [INFO] [1712495995.915757037] [cartographer_ros]: I0407 21:19:55.000000 87157 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 9.58e-04 s (pulsed at 73.73% real time)
[rviz2-3] [INFO] [1712495996.862190607] [rviz2]: Trying to create a map of size 108 x 113 using 1 swatches
[rviz2-3] [INFO] [1712495997.366226018] [rviz2]: Trying to create a map of size 110 x 113 using 1 swatches
[rviz2-3] [INFO] [1712495998.850472553] [rviz2]: Trying to create a map of size 111 x 113 using 1 swatches
[rviz2-3] [INFO] [1712496006.353848761] [rviz2]: Trying to create a map of size 111 x 115 using 1 swatches
[rviz2-3] [INFO] [1712496007.858297662] [rviz2]: Trying to create a map of size 111 x 120 using 1 swatches
[rviz2-3] [INFO] [1712496008.370193405] [rviz2]: Trying to create a map of size 111 x 121 using 1 swatches
[rviz2-3] [INFO] [1712496008.850597946] [rviz2]: Trying to create a map of size 111 x 125 using 1 swatches
[rviz2-3] [INFO] [1712496009.365623240] [rviz2]: Trying to create a map of size 111 x 127 using 1 swatches
[cartographer_node-1] [INFO] [1712496009.531540705] [cartographer_ros]: I0407 21:20:09.000000 87157 submap_2d.cc:187] Added submap 2
[cartographer_node-1] [INFO] [1712496009.807173532] [cartographer_ros]: I0407 21:20:09.000000 87165 constraint_builder_2d.cc:281] 0 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1712496009.807296614] [cartographer_ros]: I0407 21:20:09.000000 87165 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 0
[rviz2-3] [INFO] [1712496009.862534187] [rviz2]: Trying to create a map of size 111 x 129 using 1 swatches
[rviz2-3] [INFO] [1712496010.367553379] [rviz2]: Trying to create a map of size 111 x 133 using 1 swatches
[cartographer_node-1] [INFO] [1712496011.081270661] [cartographer_ros]: I0407 21:20:11.000000 87157 collated_trajectory_builder.cc:72] odom rate: 29.41 Hz 3.40e-02 s +/- 9.03e-17 s (pulsed at 73.84% real time)
[cartographer_node-1] [INFO] [1712496011.081419992] [cartographer_ros]: I0407 21:20:11.000000 87157 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 1.17e-03 s (pulsed at 74.12% real time)
[rviz2-3] [INFO] [1712496011.357449190] [rviz2]: Trying to create a map of size 111 x 137 using 1 swatches
[rviz2-3] [INFO] [1712496011.866350716] [rviz2]: Trying to create a map of size 115 x 140 using 1 swatches
[rviz2-3] [INFO] [1712496012.373079057] [rviz2]: Trying to create a map of size 117 x 141 using 1 swatches
[rviz2-3] [INFO] [1712496013.355770779] [rviz2]: Trying to create a map of size 118 x 142 using 1 swatches
[rviz2-3] [INFO] [1712496013.869821333] [rviz2]: Trying to create a map of size 122 x 144 using 1 swatches
[rviz2-3] [INFO] [1712496014.862245574] [rviz2]: Trying to create a map of size 123 x 144 using 1 swatches
[rviz2-3] [INFO] [1712496015.374684104] [rviz2]: Trying to create a map of size 124 x 144 using 1 swatches
[rviz2-3] [INFO] [1712496016.366441603] [rviz2]: Trying to create a map of size 125 x 144 using 1 swatches
[rviz2-3] [INFO] [1712496016.876303869] [rviz2]: Trying to create a map of size 127 x 144 using 1 swatches
[rviz2-3] [INFO] [1712496017.374196263] [rviz2]: Trying to create a map of size 132 x 144 using 1 swatches
[rviz2-3] [INFO] [1712496017.854386723] [rviz2]: Trying to create a map of size 135 x 144 using 1 swatches
[rviz2-3] [INFO] [1712496018.353221774] [rviz2]: Trying to create a map of size 140 x 144 using 1 swatches
[rviz2-3] [INFO] [1712496018.872387231] [rviz2]: Trying to create a map of size 142 x 144 using 1 swatches
[rviz2-3] [INFO] [1712496019.348913522] [rviz2]: Trying to create a map of size 144 x 144 using 1 swatches
[rviz2-3] [INFO] [1712496019.887898975] [rviz2]: Trying to create a map of size 145 x 144 using 1 swatches
[rviz2-3] [INFO] [1712496020.383458644] [rviz2]: Trying to create a map of size 146 x 144 using 1 swatches
[cartographer_node-1] [INFO] [1712496026.206167513] [cartographer_ros]: I0407 21:20:26.000000 87157 collated_trajectory_builder.cc:72] odom rate: 29.41 Hz 3.40e-02 s +/- 1.04e-16 s (pulsed at 75.41% real time)
[cartographer_node-1] [INFO] [1712496026.206297595] [cartographer_ros]: I0407 21:20:26.000000 87157 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 6.74e-04 s (pulsed at 75.55% real time)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[occupancy_grid_node-2] [INFO] [1712496033.778813225] [rclcpp]: signal_handler(signal_value=2)
[cartographer_node-1] [INFO] [1712496033.778920266] [rclcpp]: signal_handler(signal_value=2)
[cartographer_node-1] [INFO] [1712496033.779456927] [cartographer_ros]: I0407 21:20:33.000000 87157 node.cc:545] Shutdown the subscriber of [scan]
[cartographer_node-1] [INFO] [1712496033.779481718] [cartographer_ros]: I0407 21:20:33.000000 87157 node.cc:545] Shutdown the subscriber of [odom]
[cartographer_node-1] [INFO] [1712496033.780370709] [cartographer_ros]: I0407 21:20:33.000000 87157 map_builder_bridge.cc:149] Finishing trajectory with ID '0'...
[cartographer_node-1] [INFO] [1712496033.780454416] [cartographer_ros]: I0407 21:20:33.000000 87157 map_builder_bridge.cc:158] Running final trajectory optimization...
[cartographer_node-1] [INFO] [1712496033.780677830] [cartographer_ros]: I0407 21:20:33.000000 87165 constraint_builder_2d.cc:281] 0 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1712496033.780697664] [cartographer_ros]: I0407 21:20:33.000000 87165 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 0
[rviz2-3] [INFO] [1712496033.784762578] [rclcpp]: signal_handler(signal_value=2)
[INFO] [occupancy_grid_node-2]: process has finished cleanly [pid 87159]
[cartographer_node-1] [INFO] [1712496033.829356765] [cartographer_ros]: I0407 21:20:33.000000 87165 pose_graph_2d.cc:382] Remaining work items in queue: 1
[cartographer_node-1] [INFO] [1712496033.829483347] [cartographer_ros]: I0407 21:20:33.000000 87164 constraint_builder_2d.cc:281] 0 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1712496033.829503472] [cartographer_ros]: I0407 21:20:33.000000 87164 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 0
Optimizing: Done.     
[cartographer_node-1] [INFO] [1712496033.834004715] [cartographer_ros]: I0407 21:20:33.000000 87166 constraint_builder_2d.cc:281] 0 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1712496033.834030673] [cartographer_ros]: I0407 21:20:33.000000 87166 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 0
Optimizing: Done.     
[cartographer_node-1] [INFO] [1712496033.836776394] [cartographer_ros]: I0407 21:20:33.000000 87165 constraint_builder_2d.cc:281] 0 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1712496033.836837060] [cartographer_ros]: I0407 21:20:33.000000 87165 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 0
[INFO] [cartographer_node-1]: process has finished cleanly [pid 87157]
[INFO] [rviz2-3]: process has finished cleanly [pid 87161]

下面是cartographer lua文件配置内容

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

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",  --base_link
  -- base_link改为odom,发布map到odom之间的位姿态
  published_frame = "odom",   --odom
  odom_frame = "odom",  --odom 
  -- true改为false，不用提供里程计数据
  provide_odom_frame = false,
  -- false改为true，仅发布2D位资
  publish_frame_projected_to_2d = true,
  -- false改为true，使用里程计数据
  use_odometry = true,
  use_nav_sat = false,
  use_landmarks = false,
  -- 0改为1,使用一个雷达
  num_laser_scans = 1,
  -- 1改为0，不使用多波雷达
  num_multi_echo_laser_scans = 0,
  -- 10改为1，1/1=1等于不分割
  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.,
}


-- false改为true，启动2D SLAM
MAP_BUILDER.use_trajectory_builder_2d = true

-- 0改成0.10,比机器人半径小的都忽略
TRAJECTORY_BUILDER_2D.min_range = 0.10  --0.10
-- 30改成3.5,限制在雷达最大扫描范围内，越小一般越精确些
TRAJECTORY_BUILDER_2D.max_range = 5   --5
-- 5改成3,传感器数据超出有效范围最大值
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3. --3.0
-- true改成false,不使用IMU数据，大家可以开启，然后对比下效果
TRAJECTORY_BUILDER_2D.use_imu_data = false
-- false改成true,使用实时回环检测来进行前端的扫描匹配
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true 
-- 1.0改成0.1,提高对运动的敏感度
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1) --0.1

-- 0.55改成0.65,Fast csm的最低分数，高于此分数才进行优化。
POSE_GRAPH.constraint_builder.min_score = 0.65
--0.6改成0.7,全局定位最小分数，低于此分数则认为目前全局定位不准确
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7

-- 设置0可关闭全局SLAM
-- POSE_GRAPH.optimize_every_n_nodes = 0

return options

launch文件没有改动，其余部分无任何改动

尝试过的解决方法：

参照了某些厂商的lua配置参数，但效果还是没任何变化

小鱼

@2475887309 需要注意的是，无论哪一类建图方法，只要是有雷达参与，都需要有障碍物的，没有障碍物就没有参考，没有参考就没办法匹配，就没办法建图。在室外的雷达，一般测距范围都在80m+的多线雷达，你可以调整雷达的测距范围并在Gazebo中模拟室外的场景，来实现建图效果。

量子之海里的卡夫卡

@小鱼大佬，那么说明，出现这个问题并不是因为lua配置文件参数出的问题吗，我之前问过老师，老师说可能是里程计问题，但在仿真中我唯一能想到的就是lua配置文件里面可能没用到里程计

小鱼

@2475887309 按照我过去的经验认为，和里程计没有关系，仅仅是因为雷达的点云全部打空，变成了inf即无限大，故无法建立地图，你可以按照我的上一个回答进行测试，尽可能模拟户外场景，而不是使用空旷的环境。

量子之海里的卡夫卡

@小鱼好的，谢谢大佬，请问一下，雷达的测距范围是修改lua文件配置还是修改机器人描述文件里的参数啊

小鱼

@2475887309

1.修改Gazebo仿真插件中雷达的扫描距离（一般在URDF中描述的）
2.修改lua文件中的配置的雷达使用距离

量子之海里的卡夫卡

@小鱼好的好的，谢谢大佬

八九不离十

朋友，你好，我想问一下你在arm64上是如何下载gazebo_ros的