使用map_server发布保存的地图rviz无法收到

[lockxx2021]

使用cartographer建图使用map_server保存后，使用map_server加载，
显示一切正常

[INFO] [1676349360.531463185] [map_server]: 
	map_server lifecycle node launched. 
	Waiting on external lifecycle transitions to activate
	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1676349360.531553193] [map_server]: Creating
[INFO] [1676349364.388825500] [map_server]: Configuring
[INFO] [map_io]: Loading yaml file: ./fishbot_map.yaml
[DEBUG] [map_io]: resolution: 0.05
[DEBUG] [map_io]: origin[0]: -3.3
[DEBUG] [map_io]: origin[1]: -2.96
[DEBUG] [map_io]: origin[2]: 0
[DEBUG] [map_io]: free_thresh: 0.25
[DEBUG] [map_io]: occupied_thresh: 0.65
[DEBUG] [map_io]: mode: trinary
[DEBUG] [map_io]: negate: 0
[INFO] [map_io]: Loading image_file: ./fishbot_map.pgm
[DEBUG] [map_io]: Read map ./fishbot_map.pgm: 133 X 118 map @ 0.05 m/cell
[INFO] [1676349369.553119216] [map_server]: Activating
[INFO] [1676349369.553240332] [map_server]: Creating bond (map_server) to lifecycle manager.

但在rviz中显示no map recevied
输入ros2 topic info /map -v
显示

Publisher count: 1

Node name: map_server
Node namespace: /
Topic type: nav_msgs/msg/OccupancyGrid
Endpoint type: PUBLISHER
GID: 01.0f.6e.93.81.6d.f9.3e.01.00.00.00.00.00.1f.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: TRANSIENT_LOCAL
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 1

Node name: rviz
Node namespace: /
Topic type: nav_msgs/msg/OccupancyGrid
Endpoint type: SUBSCRIPTION
GID: 01.0f.6e.93.8c.6d.9f.ae.01.00.00.00.00.00.2f.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: TRANSIENT_LOCAL
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

使用ros2 topic echomap显示

header:
  stamp:
    sec: 1676349936
    nanosec: 235408782
  frame_id: map
info:
  map_load_time:
    sec: 1676349936
    nanosec: 235407546
  resolution: 0.05000000074505806
  width: 133
  height: 118
  origin:
    position:
      x: -3.3
      y: -2.96
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
data:
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
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- 0
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- 0
- 0
- 0
- 0
- 0
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- 0
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- '...'
---

环境为ubuntu22.04.1 ros-humble

[lockxx2021]

@小鱼 问题解决了，多次重启之后莫名其妙地好了

[小鱼]

@lockxx2021 应该是qos问题造成的

参考如下帖子

@追逐我的明天 在 配置激活map_server报错，Transitioning failed 中说：

问题：配置map_server时报错

[lockxx2021]

@小鱼 我通过ros2 topic info /map -v显示出的qos是相同的...重启后也仍然不行

[lockxx2021]

@小鱼 问题解决了，多次重启之后莫名其妙地好了

[vico1999]

和我的环境一样，也是出了相同的问题，我重启了多次，rviz依然无法显示载入地图

[小鱼]

@vico1999 可以先启动一个rviz2，添加map,修改好qos,接着再启动cartographer，

[vico1999]

和我的一样，rviz不能显示地图

[1959255334]

@vico1999 把map的qos设置成这样试试。Reliability Policy设置成Reliable，Durability Policy设置成Transient Local，改完我这边能显示栅格地图了。

[154453683]

@1959255334 在 使用map_server发布保存的地图rviz无法收到 中说：

eliability Policy

正解，遇到了相同问题，谢谢

[510721167]

@1959255334 正解，感谢感谢

[957986629]

@1959255334 先启动ros2 run nav2_map_server map_server --ros-args --param yaml_filename:=map/fishbot_map.yaml
再打开rviz2，把设置都改好后，再手动激活和配置节点
ros2 lifecycle set /map_server configure
ros2 lifecycle set /map_server activate

[1537803662]

成功了，十分感谢

[tzh]

遇到了同样的问题，修改为如下配置后可正常显示：