10.3中mapserver中载入地图后，rviz中不能显示

vico1999

vico@wp:~/fishbot_ws/src/fishbot_cartographer/map$ ros2 topic info /map_updates
Type: map_msgs/msg/OccupancyGridUpdate
Publisher count: 0
Subscription count: 1
查看了一下，只发布了map 一个Topic。 map_updates 没有发布者。所以是在哪里发布这个的呢

小鱼

@vico1999 可以看下topic的QOS

QOS要匹配才能进行通信

发布者qos

ros2 topic info /map -v

在rviz中map组件下，点topic展开看看是否匹配

vico1999

@小鱼 Node name: map_server
Node namespace: /
Topic type: nav_msgs/msg/OccupancyGrid
Endpoint type: PUBLISHER
GID: 01.0f.15.5d.37.ef.4c.59.01.00.00.00.00.00.1f.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.15.5d.82.ee.ab.b9.01.00.00.00.00.00.20.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

小鱼

注意这里，两者并不相同

@vico1999 在 10.3中mapserver中载入地图后，rviz中不能显示中说：

Durability: TRANSIENT_LOCAL

@vico1999 在 10.3中mapserver中载入地图后，rviz中不能显示中说：

Reliability: RELIABLE

vico1999

怎么修改mapserver中的参数呢

小鱼

@vico1999 在 10.3中mapserver中载入地图后，rviz中不能显示中说：

Node namespace: /
Topic type: nav_msgs/msg/OccupancyGrid
Endpoint type: PUBLISHER
GID: 01.0f.15.5d.37.ef.4c.59.01.00.00.00.00.00.1f.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

按照这个改

vico1999

选区_001.png 我的配置和你是一样的啊，还是不能显示

小鱼

@vico1999 确定下是否发布了