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    cartographer运行时报错[SUBSCRIBER Error]

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    仿真
    cartographer 仿真
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    • 24758873092
      量子之海里的卡夫卡
      最后由 编辑

      标题：cartographer运行时报错[SUBSCRIBER Error]

      问题描述：

      硬件平台：nuc x86
      系统版本 ubuntu20.04
      ros版本 foxy

      我在仿真大范围建图的时候将所有话题的数据录制为一个bag数据包后，使用bag播放数据并使用cartographer算法进行离线建图，但运行到一段时间后就会报错，不止离线会这样，在使用gazebo仿真的时候也会偶尔报错，两者区别就是出现频率不一样，离线的会比较高

      [occupancy_grid_node-2] 2024-04-16 10:20:35.857 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change

      且在出现这个报错后就不能进行建图的保存。

      rviz日志

      [occupancy_grid_node-2] 2024-04-16 10:18:07.626 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[cartographer_node-1] [INFO] [1713233890.841698173] [cartographer_ros]: I0416 10:18:10.000000 37828 constraint_builder_2d.cc:281] 26 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1713233890.841770416] [cartographer_ros]: I0416 10:18:10.000000 37828 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 57  Min: 0.700015  Max: 0.793795  Mean: 0.731902
[cartographer_node-1] [0.700015, 0.709393)	                ####	Count: 11 (19.298246%)	Total: 11 (19.298246%)
[cartographer_node-1] [0.709393, 0.718771)	                ####	Count: 11 (19.298246%)	Total: 22 (38.596493%)
[cartographer_node-1] [0.718771, 0.728149)	                ####	Count: 10 (17.543859%)	Total: 32 (56.140350%)
[cartographer_node-1] [0.728149, 0.737527)	                  ##	Count: 5 (8.771930%)	Total: 37 (64.912277%)
[cartographer_node-1] [0.737527, 0.746905)	                   #	Count: 2 (3.508772%)	Total: 39 (68.421051%)
[cartographer_node-1] [0.746905, 0.756283)	                  ##	Count: 6 (10.526316%)	Total: 45 (78.947365%)
[cartographer_node-1] [0.756283, 0.765661)	                  ##	Count: 7 (12.280702%)	Total: 52 (91.228073%)
[cartographer_node-1] [0.765661, 0.775039)	                    	Count: 1 (1.754386%)	Total: 53 (92.982452%)
[cartographer_node-1] [0.775039, 0.784417)	                    	Count: 1 (1.754386%)	Total: 54 (94.736839%)
[cartographer_node-1] [0.784417, 0.793795]	                   #	Count: 3 (5.263158%)	Total: 57 (100.000000%)
[cartographer_node-1] [INFO] [1713233893.029278000] [cartographer_ros]: I0416 10:18:13.000000 37828 constraint_builder_2d.cc:266] Node (0, 4349) with 100 points on submap (0, 43) differs by translation 0.87 rotation 0.025 with score 70.3%.
[cartographer_node-1] [INFO] [1713233896.179774102] [cartographer_ros]: I0416 10:18:16.000000 37810 motion_filter.cc:42] Motion filter reduced the number of nodes to 51.2588%.
[cartographer_node-1] [INFO] [1713233896.186951505] [cartographer_ros]: I0416 10:18:16.000000 37830 constraint_builder_2d.cc:266] Node (0, 4357) with 100 points on submap (0, 43) differs by translation 0.92 rotation 0.024 with score 71.2%.
[occupancy_grid_node-2] 2024-04-16 10:18:16.628 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:18:17.585 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:18:17.686 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[cartographer_node-1] [INFO] [1713233898.988229757] [cartographer_ros]: I0416 10:18:18.000000 37830 constraint_builder_2d.cc:266] Node (0, 4364) with 104 points on submap (0, 43) differs by translation 0.95 rotation 0.023 with score 71.9%.
[occupancy_grid_node-2] 2024-04-16 10:18:19.663 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[cartographer_node-1] [INFO] [1713233902.574994615] [cartographer_ros]: I0416 10:18:22.000000 37810 collated_trajectory_builder.cc:72] odom rate: 29.41 Hz 3.40e-02 s +/- 2.50e-16 s (pulsed at 99.29% real time)
[cartographer_node-1] [INFO] [1713233902.575021898] [cartographer_ros]: I0416 10:18:22.000000 37810 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 8.46e-04 s (pulsed at 100.25% real time)
[occupancy_grid_node-2] 2024-04-16 10:18:33.019 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:18:34.406 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[cartographer_node-1] [INFO] [1713233916.340383226] [cartographer_ros]: I0416 10:18:36.000000 37810 submap_2d.cc:187] Added submap 50
[cartographer_node-1] [INFO] [1713233917.686594726] [cartographer_ros]: I0416 10:18:37.000000 37810 collated_trajectory_builder.cc:72] odom rate: 29.21 Hz 3.42e-02 s +/- 2.83e-03 s (pulsed at 99.61% real time)
[cartographer_node-1] [INFO] [1713233917.686627242] [cartographer_ros]: I0416 10:18:37.000000 37810 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 7.85e-04 s (pulsed at 99.12% real time)
[occupancy_grid_node-2] 2024-04-16 10:18:44.333 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[cartographer_node-1] [INFO] [1713233929.116405945] [cartographer_ros]: I0416 10:18:49.000000 37830 constraint_builder_2d.cc:281] 50 computations resulted in 3 additional constraints.
[cartographer_node-1] [INFO] [1713233929.116453399] [cartographer_ros]: I0416 10:18:49.000000 37830 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 60  Min: 0.700015  Max: 0.793795  Mean: 0.730867
[cartographer_node-1] [0.700015, 0.709393)	                ####	Count: 12 (20.000000%)	Total: 12 (20.000000%)
[cartographer_node-1] [0.709393, 0.718771)	                ####	Count: 12 (20.000000%)	Total: 24 (40.000000%)
[cartographer_node-1] [0.718771, 0.728149)	                ####	Count: 11 (18.333334%)	Total: 35 (58.333332%)
[cartographer_node-1] [0.728149, 0.737527)	                  ##	Count: 5 (8.333333%)	Total: 40 (66.666664%)
[cartographer_node-1] [0.737527, 0.746905)	                   #	Count: 2 (3.333333%)	Total: 42 (70.000000%)
[cartographer_node-1] [0.746905, 0.756283)	                  ##	Count: 6 (10.000000%)	Total: 48 (80.000000%)
[cartographer_node-1] [0.756283, 0.765661)	                  ##	Count: 7 (11.666667%)	Total: 55 (91.666664%)
[cartographer_node-1] [0.765661, 0.775039)	                    	Count: 1 (1.666667%)	Total: 56 (93.333336%)
[cartographer_node-1] [0.775039, 0.784417)	                    	Count: 1 (1.666667%)	Total: 57 (95.000000%)
[cartographer_node-1] [0.784417, 0.793795]	                   #	Count: 3 (5.000000%)	Total: 60 (100.000000%)
[cartographer_node-1] [INFO] [1713233932.712369722] [cartographer_ros]: I0416 10:18:52.000000 37810 collated_trajectory_builder.cc:72] odom rate: 28.94 Hz 3.46e-02 s +/- 4.31e-03 s (pulsed at 99.11% real time)
[cartographer_node-1] [INFO] [1713233932.712395426] [cartographer_ros]: I0416 10:18:52.000000 37810 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 8.30e-04 s (pulsed at 100.08% real time)
[occupancy_grid_node-2] 2024-04-16 10:18:53.486 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:18:53.554 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[cartographer_node-1] [INFO] [1713233947.781983307] [cartographer_ros]: I0416 10:19:07.000000 37810 collated_trajectory_builder.cc:72] odom rate: 28.60 Hz 3.50e-02 s +/- 5.65e-03 s (pulsed at 99.47% real time)
[cartographer_node-1] [INFO] [1713233947.782009956] [cartographer_ros]: I0416 10:19:07.000000 37810 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 7.40e-04 s (pulsed at 99.62% real time)
[cartographer_node-1] [INFO] [1713233950.025851001] [cartographer_ros]: I0416 10:19:10.000000 37810 submap_2d.cc:187] Added submap 51
[cartographer_node-1] [INFO] [1713233962.846597664] [cartographer_ros]: I0416 10:19:22.000000 37810 collated_trajectory_builder.cc:72] odom rate: 28.94 Hz 3.46e-02 s +/- 4.31e-03 s (pulsed at 99.72% real time)
[cartographer_node-1] [INFO] [1713233962.846625473] [cartographer_ros]: I0416 10:19:22.000000 37810 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 8.76e-04 s (pulsed at 99.36% real time)
[occupancy_grid_node-2] 2024-04-16 10:19:23.124 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[cartographer_node-1] [INFO] [1713233966.882129331] [cartographer_ros]: I0416 10:19:26.000000 37829 constraint_builder_2d.cc:281] 36 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1713233966.882207071] [cartographer_ros]: I0416 10:19:26.000000 37829 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 60  Min: 0.700015  Max: 0.793795  Mean: 0.730867
[cartographer_node-1] [0.700015, 0.709393)	                ####	Count: 12 (20.000000%)	Total: 12 (20.000000%)
[cartographer_node-1] [0.709393, 0.718771)	                ####	Count: 12 (20.000000%)	Total: 24 (40.000000%)
[cartographer_node-1] [0.718771, 0.728149)	                ####	Count: 11 (18.333334%)	Total: 35 (58.333332%)
[cartographer_node-1] [0.728149, 0.737527)	                  ##	Count: 5 (8.333333%)	Total: 40 (66.666664%)
[cartographer_node-1] [0.737527, 0.746905)	                   #	Count: 2 (3.333333%)	Total: 42 (70.000000%)
[cartographer_node-1] [0.746905, 0.756283)	                  ##	Count: 6 (10.000000%)	Total: 48 (80.000000%)
[cartographer_node-1] [0.756283, 0.765661)	                  ##	Count: 7 (11.666667%)	Total: 55 (91.666664%)
[cartographer_node-1] [0.765661, 0.775039)	                    	Count: 1 (1.666667%)	Total: 56 (93.333336%)
[cartographer_node-1] [0.775039, 0.784417)	                    	Count: 1 (1.666667%)	Total: 57 (95.000000%)
[cartographer_node-1] [0.784417, 0.793795]	                   #	Count: 3 (5.000000%)	Total: 60 (100.000000%)
[cartographer_node-1] [INFO] [1713233977.849668615] [cartographer_ros]: I0416 10:19:37.000000 37810 collated_trajectory_builder.cc:72] odom rate: 29.14 Hz 3.43e-02 s +/- 3.25e-03 s (pulsed at 100.05% real time)
[cartographer_node-1] [INFO] [1713233977.849701920] [cartographer_ros]: I0416 10:19:37.000000 37810 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 7.45e-04 s (pulsed at 99.11% real time)
[cartographer_node-1] [INFO] [1713233984.597310099] [cartographer_ros]: I0416 10:19:44.000000 37810 submap_2d.cc:187] Added submap 52
[occupancy_grid_node-2] 2024-04-16 10:19:46.224 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[cartographer_node-1] [INFO] [1713233993.012246208] [cartographer_ros]: I0416 10:19:53.000000 37810 collated_trajectory_builder.cc:72] odom rate: 28.40 Hz 3.52e-02 s +/- 6.30e-03 s (pulsed at 99.12% real time)
[cartographer_node-1] [INFO] [1713233993.012275249] [cartographer_ros]: I0416 10:19:53.000000 37810 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 6.78e-04 s (pulsed at 100.31% real time)
[cartographer_node-1] [INFO] [1713233996.793134344] [cartographer_ros]: I0416 10:19:56.000000 37810 motion_filter.cc:42] Motion filter reduced the number of nodes to 51.3444%.
[cartographer_node-1] [INFO] [1713234006.464229819] [cartographer_ros]: I0416 10:20:06.000000 37829 constraint_builder_2d.cc:281] 49 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1713234006.464292317] [cartographer_ros]: I0416 10:20:06.000000 37829 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 60  Min: 0.700015  Max: 0.793795  Mean: 0.730867
[cartographer_node-1] [0.700015, 0.709393)	                ####	Count: 12 (20.000000%)	Total: 12 (20.000000%)
[cartographer_node-1] [0.709393, 0.718771)	                ####	Count: 12 (20.000000%)	Total: 24 (40.000000%)
[cartographer_node-1] [0.718771, 0.728149)	                ####	Count: 11 (18.333334%)	Total: 35 (58.333332%)
[cartographer_node-1] [0.728149, 0.737527)	                  ##	Count: 5 (8.333333%)	Total: 40 (66.666664%)
[cartographer_node-1] [0.737527, 0.746905)	                   #	Count: 2 (3.333333%)	Total: 42 (70.000000%)
[cartographer_node-1] [0.746905, 0.756283)	                  ##	Count: 6 (10.000000%)	Total: 48 (80.000000%)
[cartographer_node-1] [0.756283, 0.765661)	                  ##	Count: 7 (11.666667%)	Total: 55 (91.666664%)
[cartographer_node-1] [0.765661, 0.775039)	                    	Count: 1 (1.666667%)	Total: 56 (93.333336%)
[cartographer_node-1] [0.775039, 0.784417)	                    	Count: 1 (1.666667%)	Total: 57 (95.000000%)
[cartographer_node-1] [0.784417, 0.793795]	                   #	Count: 3 (5.000000%)	Total: 60 (100.000000%)
[cartographer_node-1] [INFO] [1713234008.053840131] [cartographer_ros]: I0416 10:20:08.000000 37810 collated_trajectory_builder.cc:72] odom rate: 28.94 Hz 3.46e-02 s +/- 4.31e-03 s (pulsed at 98.84% real time)
[cartographer_node-1] [INFO] [1713234008.053869169] [cartographer_ros]: I0416 10:20:08.000000 37810 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 8.02e-04 s (pulsed at 100.32% real time)
[cartographer_node-1] [INFO] [1713234020.341586055] [cartographer_ros]: I0416 10:20:20.000000 37810 submap_2d.cc:187] Added submap 53
[occupancy_grid_node-2] 2024-04-16 10:20:22.602 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:20:22.685 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[cartographer_node-1] [INFO] [1713234023.133855795] [cartographer_ros]: I0416 10:20:23.000000 37810 collated_trajectory_builder.cc:72] odom rate: 28.74 Hz 3.48e-02 s +/- 5.16e-03 s (pulsed at 99.47% real time)
[cartographer_node-1] [INFO] [1713234023.133882169] [cartographer_ros]: I0416 10:20:23.000000 37810 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 6.52e-04 s (pulsed at 99.55% real time)
[occupancy_grid_node-2] 2024-04-16 10:20:23.850 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:20:24.959 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:20:30.449 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:20:31.380 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:20:32.514 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:20:32.623 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:20:34.802 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[occupancy_grid_node-2] 2024-04-16 10:20:35.857 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[cartographer_node-1] [INFO] [1713234038.173438028] [cartographer_ros]: I0416 10:20:38.000000 37810 collated_trajectory_builder.cc:72] odom rate: 29.34 Hz 3.41e-02 s +/- 1.62e-03 s (pulsed at 99.80% real time)
[cartographer_node-1] [INFO] [1713234038.173469403] [cartographer_ros]: I0416 10:20:38.000000 37810 collated_trajectory_builder.cc:72] scan rate: 5.00 Hz 2.00e-01 s +/- 6.87e-04 s (pulsed at 98.80% real time)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rviz2-3] [INFO] [1713234042.514296088] [rclcpp]: signal_handler(signal_value=2)
[cartographer_node-1] [INFO] [1713234042.514296087] [rclcpp]: signal_handler(signal_value=2)
[occupancy_grid_node-2] [INFO] [1713234042.523108658] [rclcpp]: signal_handler(signal_value=2)
[cartographer_node-1] [INFO] [1713234042.561890233] [cartographer_ros]: I0416 10:20:42.000000 37810 node.cc:545] Shutdown the subscriber of [scan]
[cartographer_node-1] [INFO] [1713234042.561912285] [cartographer_ros]: I0416 10:20:42.000000 37810 node.cc:545] Shutdown the subscriber of [odom]
[cartographer_node-1] [INFO] [1713234042.562749360] [cartographer_ros]: I0416 10:20:42.000000 37810 map_builder_bridge.cc:149] Finishing trajectory with ID '0'...
[cartographer_node-1] [INFO] [1713234042.562844572] [cartographer_ros]: I0416 10:20:42.000000 37810 map_builder_bridge.cc:158] Running final trajectory optimization...
[cartographer_node-1] [INFO] [1713234042.562865087] [cartographer_ros]: I0416 10:20:42.000000 37827 constraint_builder_2d.cc:281] 36 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1713234042.562922493] [cartographer_ros]: I0416 10:20:42.000000 37827 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 60  Min: 0.700015  Max: 0.793795  Mean: 0.730867
[cartographer_node-1] [0.700015, 0.709393)	                ####	Count: 12 (20.000000%)	Total: 12 (20.000000%)
[cartographer_node-1] [0.709393, 0.718771)	                ####	Count: 12 (20.000000%)	Total: 24 (40.000000%)
[cartographer_node-1] [0.718771, 0.728149)	                ####	Count: 11 (18.333334%)	Total: 35 (58.333332%)
[cartographer_node-1] [0.728149, 0.737527)	                  ##	Count: 5 (8.333333%)	Total: 40 (66.666664%)
[cartographer_node-1] [0.737527, 0.746905)	                   #	Count: 2 (3.333333%)	Total: 42 (70.000000%)
[cartographer_node-1] [0.746905, 0.756283)	                  ##	Count: 6 (10.000000%)	Total: 48 (80.000000%)
[cartographer_node-1] [0.756283, 0.765661)	                  ##	Count: 7 (11.666667%)	Total: 55 (91.666664%)
[cartographer_node-1] [0.765661, 0.775039)	                    	Count: 1 (1.666667%)	Total: 56 (93.333336%)
[cartographer_node-1] [0.775039, 0.784417)	                    	Count: 1 (1.666667%)	Total: 57 (95.000000%)
[cartographer_node-1] [0.784417, 0.793795]	                   #	Count: 3 (5.000000%)	Total: 60 (100.000000%)
[cartographer_node-1] [INFO] [1713234042.640047979] [cartographer_ros]: I0416 10:20:42.000000 37827 pose_graph_2d.cc:382] Remaining work items in queue: 1
[cartographer_node-1] [INFO] [1713234042.640086526] [cartographer_ros]: I0416 10:20:42.000000 37827 constraint_builder_2d.cc:281] 0 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1713234042.640123791] [cartographer_ros]: I0416 10:20:42.000000 37827 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 60  Min: 0.700015  Max: 0.793795  Mean: 0.730867
[cartographer_node-1] [0.700015, 0.709393)	                ####	Count: 12 (20.000000%)	Total: 12 (20.000000%)
[cartographer_node-1] [0.709393, 0.718771)	                ####	Count: 12 (20.000000%)	Total: 24 (40.000000%)
[cartographer_node-1] [0.718771, 0.728149)	                ####	Count: 11 (18.333334%)	Total: 35 (58.333332%)
[cartographer_node-1] [0.728149, 0.737527)	                  ##	Count: 5 (8.333333%)	Total: 40 (66.666664%)
[cartographer_node-1] [0.737527, 0.746905)	                   #	Count: 2 (3.333333%)	Total: 42 (70.000000%)
[cartographer_node-1] [0.746905, 0.756283)	                  ##	Count: 6 (10.000000%)	Total: 48 (80.000000%)
[cartographer_node-1] [0.756283, 0.765661)	                  ##	Count: 7 (11.666667%)	Total: 55 (91.666664%)
[cartographer_node-1] [0.765661, 0.775039)	                    	Count: 1 (1.666667%)	Total: 56 (93.333336%)
[cartographer_node-1] [0.775039, 0.784417)	                    	Count: 1 (1.666667%)	Total: 57 (95.000000%)
[cartographer_node-1] [0.784417, 0.793795]	                   #	Count: 3 (5.000000%)	Total: 60 (100.000000%)
Optimizing: Done.     
[cartographer_node-1] [INFO] [1713234042.689016520] [cartographer_ros]: I0416 10:20:42.000000 37830 constraint_builder_2d.cc:281] 0 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1713234042.689151875] [cartographer_ros]: I0416 10:20:42.000000 37830 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 60  Min: 0.700015  Max: 0.793795  Mean: 0.730867
[cartographer_node-1] [0.700015, 0.709393)	                ####	Count: 12 (20.000000%)	Total: 12 (20.000000%)
[cartographer_node-1] [0.709393, 0.718771)	                ####	Count: 12 (20.000000%)	Total: 24 (40.000000%)
[cartographer_node-1] [0.718771, 0.728149)	                ####	Count: 11 (18.333334%)	Total: 35 (58.333332%)
[cartographer_node-1] [0.728149, 0.737527)	                  ##	Count: 5 (8.333333%)	Total: 40 (66.666664%)
[cartographer_node-1] [0.737527, 0.746905)	                   #	Count: 2 (3.333333%)	Total: 42 (70.000000%)
[cartographer_node-1] [0.746905, 0.756283)	                  ##	Count: 6 (10.000000%)	Total: 48 (80.000000%)
[cartographer_node-1] [0.756283, 0.765661)	                  ##	Count: 7 (11.666667%)	Total: 55 (91.666664%)
[cartographer_node-1] [0.765661, 0.775039)	                    	Count: 1 (1.666667%)	Total: 56 (93.333336%)
[cartographer_node-1] [0.775039, 0.784417)	                    	Count: 1 (1.666667%)	Total: 57 (95.000000%)
[cartographer_node-1] [0.784417, 0.793795]	                   #	Count: 3 (5.000000%)	Total: 60 (100.000000%)
Optimizing: Done.     
[cartographer_node-1] [INFO] [1713234042.692212785] [cartographer_ros]: I0416 10:20:42.000000 37830 constraint_builder_2d.cc:281] 0 computations resulted in 0 additional constraints.
[cartographer_node-1] [INFO] [1713234042.692258087] [cartographer_ros]: I0416 10:20:42.000000 37830 constraint_builder_2d.cc:283] Score histogram:
[cartographer_node-1] Count: 60  Min: 0.700015  Max: 0.793795  Mean: 0.730867
[cartographer_node-1] [0.700015, 0.709393)	                ####	Count: 12 (20.000000%)	Total: 12 (20.000000%)
[cartographer_node-1] [0.709393, 0.718771)	                ####	Count: 12 (20.000000%)	Total: 24 (40.000000%)
[cartographer_node-1] [0.718771, 0.728149)	                ####	Count: 11 (18.333334%)	Total: 35 (58.333332%)
[cartographer_node-1] [0.728149, 0.737527)	                  ##	Count: 5 (8.333333%)	Total: 40 (66.666664%)
[cartographer_node-1] [0.737527, 0.746905)	                   #	Count: 2 (3.333333%)	Total: 42 (70.000000%)
[cartographer_node-1] [0.746905, 0.756283)	                  ##	Count: 6 (10.000000%)	Total: 48 (80.000000%)
[cartographer_node-1] [0.756283, 0.765661)	                  ##	Count: 7 (11.666667%)	Total: 55 (91.666664%)
[cartographer_node-1] [0.765661, 0.775039)	                    	Count: 1 (1.666667%)	Total: 56 (93.333336%)
[cartographer_node-1] [0.775039, 0.784417)	                    	Count: 1 (1.666667%)	Total: 57 (95.000000%)
[cartographer_node-1] [0.784417, 0.793795]	                   #	Count: 3 (5.000000%)	Total: 60 (100.000000%)
[INFO] [rviz2-3]: process has finished cleanly [pid 37814]
[INFO] [cartographer_node-1]: process has finished cleanly [pid 37810]
[INFO] [occupancy_grid_node-2]: process has finished cleanly [pid 37812]

      lua配置：

      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 = 0.5,   --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 = 1.0  --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 = 30   --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 = 30. --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 = false 
-- 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(0.2) --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 = 0.7       --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 = 0.65     --0.7

-- 设置0可关闭全局SLAM
POSE_GRAPH.optimize_every_n_nodes = 100

return options

      launch文件配置

      import os
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    # 定位到功能包的地址
    pkg_share = FindPackageShare(package='fishbot_cartographer').find('fishbot_cartographer')
    
    #=====================运行节点需要的配置=======================================================================
    # 是否使用仿真时间，我们用gazebo，这里设置成true
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    # 地图的分辨率--0.05
    resolution = LaunchConfiguration('resolution', default='0.08')
    # 地图的发布周期--0.5
    publish_period_sec = LaunchConfiguration('publish_period_sec', default='1')
    # 配置文件夹路径
    configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
    # 配置文件
    configuration_basename = LaunchConfiguration('configuration_basename', default='fishbot_2d.lua')

    
    #=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
    cartographer_node = Node(
        package='cartographer_ros',
        executable='cartographer_node',
        name='cartographer_node',
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=['-configuration_directory', configuration_directory,
                   '-configuration_basename', configuration_basename])

    occupancy_grid_node = Node(
        package='cartographer_ros',
        executable='occupancy_grid_node',
        name='occupancy_grid_node',
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])

    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        # arguments=['-d', rviz_config_dir],
        parameters=[{'use_sim_time': use_sim_time}],
        output='screen')

    #===============================================定义启动文件========================================================
    ld = LaunchDescription()
    ld.add_action(cartographer_node)
    ld.add_action(occupancy_grid_node)
    ld.add_action(rviz_node)

    return ld
      24758873092 小鱼小 2 条回复 最后回复 回复 引用 0
      • 24758873092
        量子之海里的卡夫卡 @2475887309
        最后由 编辑

        @2475887309 cartographer算法是使用apt安装的，源码安装会报错，一直没解决

        1 条回复 最后回复 回复 引用 0
        • 小鱼小
          小鱼 技术大佬 @2475887309
          最后由 编辑

          @2475887309 暂时没有看出问题，可能是性能瓶颈，可以试试使用slam_toolbox 进行大场景地图构建。

          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

          1 条回复 最后回复 回复 引用 0
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