Your browser does not seem to support JavaScript. As a result, your viewing experience will be diminished, and you have been placed in read-only mode.
Please download a browser that supports JavaScript, or enable it if it's disabled (i.e. NoScript).
1
@小鱼 我是ros1不是2
小
@小鱼 问题定位与解决方案：
使用rqt_tf_tree查看tf是否正常,发现map到base_footprint之间时间差距非常大。
问题原因：cartographer启动时为设置use_sim_time为True。
解决方案：
在launch后增加use_sim_time设置使用仿真时间源。
正确的TF如下：
65124d0d-be3a-4fb5-8184-66ac21b7a586-image.png
