Cartographer建图提示Filter dropping message: frame 'laser_link' 解决方案

[小鱼]

问题描述：使用ROS2 Cartographer进行仿真建图的时候出现的错误，RVIZ2中图正常，但是map和base_footprint姿态差距非常大。

同时终端提示以下内容：

[rviz2]: Message Filter dropping message: frame 'laser_link' at time 322.559 for reason 'Unknown'

系统信息如下：

• Ubuntu20.04
• foxy
• cartographer: foxy分支
• cartographer: dashing分支
• Gazebo11

URDF：

<?xml version="1.0"?>
<robot name="fishbot">


  <!-- Robot Footprint -->
  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0.0 0.0 0.076" rpy="0 0 0"/>
  </joint>


  <!-- base link -->
  <link name="base_link">
  	<visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
		<cylinder length="0.12" radius="0.10"/>
      </geometry>
      <material name="blue">
      	<color rgba="0.1 0.1 1.0 0.5" /> 
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
		<cylinder length="0.12" radius="0.10"/>
      </geometry>
      <material name="blue">
      	<color rgba="0.1 0.1 1.0 0.5" /> 
      </material>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.0122666" ixy="0" ixz="0" iyy="0.0122666" iyz="0" izz="0.02"/>
    </inertial>
  </link>
    
  <!-- laser link -->
  <link name="laser_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.02"/>
      </geometry>
      <material name="black">
        <color rgba="0.0 0.0 0.0 0.5" /> 
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.02"/>
      </geometry>
      <material name="black">
        <color rgba="0.0 0.0 0.0 0.5" /> 
      </material>
    </collision>
    <inertial>
    <mass value="0.1"/>
      <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/>
    </inertial>
  </link>
  
  <!-- laser joint -->
  <joint name="laser_joint" type="fixed">
      <parent link="base_link" />
      <child link="laser_link" />
      <origin xyz="0 0 0.075" />
  </joint>

  <link name="imu_link">
  	<visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
		    <box size="0.02 0.02 0.02"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
		    <box size="0.02 0.02 0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
        <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/>
      </inertial>
  </link>

  <!-- imu joint -->
  <joint name="imu_joint" type="fixed">
      <parent link="base_link" />
      <child link="imu_link" />
      <origin xyz="0 0 0.02" />
  </joint>


  <link name="left_wheel_link">
      <visual>
        <origin xyz="0 0 0" rpy="1.57079 0 0"/>
        <geometry>
          <cylinder length="0.04" radius="0.032"/>
        </geometry>
          <material name="black">
            <color rgba="0.0 0.0 0.0 0.5" /> 
          </material>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="1.57079 0 0"/>
        <geometry>
          <cylinder length="0.04" radius="0.032"/>
        </geometry>
          <material name="black">
            <color rgba="0.0 0.0 0.0 0.5" /> 
          </material>
      </collision>
      <inertial>
        <mass value="0.2"/>
          <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/>
        </inertial>
  </link>
    
  <link name="right_wheel_link">
      <visual>
        <origin xyz="0 0 0" rpy="1.57079 0 0"/>
        <geometry>
          <cylinder length="0.04" radius="0.032"/>
        </geometry>
          <material name="black">
            <color rgba="0.0 0.0 0.0 0.5" /> 
          </material>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="1.57079 0 0"/>
        <geometry>
          <cylinder length="0.04" radius="0.032"/>
        </geometry>
          <material name="black">
            <color rgba="0.0 0.0 0.0 0.5" /> 
          </material>
      </collision>
      <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/>
    </inertial>
  </link>
    
  <joint name="left_wheel_joint" type="continuous">
      <parent link="base_link" />
      <child link="left_wheel_link" />
      <origin xyz="-0.02 0.10 -0.06" />
      <axis xyz="0 1 0" />
  </joint>

  <joint name="right_wheel_joint" type="continuous">
      <parent link="base_link" />
      <child link="right_wheel_link" />
      <origin xyz="-0.02 -0.10 -0.06" />
      <axis xyz="0 1 0" />
  </joint>

  <link name="caster_link">
      <visual>
        <origin xyz="0 0 0" rpy="1.57079 0 0"/>
        <geometry>
            <sphere radius="0.016"/>
        </geometry>
          <material name="black">
            <color rgba="0.0 0.0 0.0 0.5" /> 
          </material>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="1.57079 0 0"/>
        <geometry>
            <sphere radius="0.016"/>
        </geometry>
          <material name="black">
            <color rgba="0.0 0.0 0.0 0.5" /> 
          </material>
      </collision>
      <inertial>
      <mass value="0.02"/>
      <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/>
    </inertial>
  </link>
    
  <joint name="caster_joint" type="fixed">
      <parent link="base_link" />
      <child link="caster_link" />
      <origin xyz="0.06 0.0 -0.076" />
      <axis xyz="0 1 0" />
  </joint>



  <gazebo reference="caster_link">
    <material>Gazebo/Black</material>
  </gazebo>

  <gazebo reference="caster_link">
    <mu1 value="0.0"/>
    <mu2 value="0.0"/>
    <kp value="1000000.0" />
    <kd value="10.0" />
    <!-- <fdir1 value="0 0 1"/> -->
  </gazebo>


  <gazebo>
    <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
          <ros>
            <namespace>/</namespace>
            <remapping>cmd_vel:=cmd_vel</remapping>
            <remapping>odom:=odom</remapping>
          </ros>
          <update_rate>30</update_rate>
          <!-- wheels -->
          <!-- <left_joint>left_wheel_joint</left_joint> -->
          <!-- <right_joint>right_wheel_joint</right_joint> -->
          <left_joint>left_wheel_joint</left_joint>
          <right_joint>right_wheel_joint</right_joint>
          <!-- kinematics -->
          <wheel_separation>0.2</wheel_separation>
          <wheel_diameter>0.065</wheel_diameter>
          <!-- limits -->
          <max_wheel_torque>20</max_wheel_torque>
          <max_wheel_acceleration>1.0</max_wheel_acceleration>
          <!-- output -->
          <publish_odom>true</publish_odom>
          <publish_odom_tf>true</publish_odom_tf>
          <publish_wheel_tf>false</publish_wheel_tf>
          <odometry_frame>odom</odometry_frame>
          <robot_base_frame>base_footprint</robot_base_frame>
      </plugin>


      <plugin name="fishbot_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
        <ros>
          <remapping>~/out:=joint_states</remapping>
        </ros>
        <update_rate>30</update_rate>
        <joint_name>right_wheel_joint</joint_name>
        <joint_name>left_wheel_joint</joint_name>
      </plugin>    
      </gazebo> 

      <gazebo reference="laser_link">
        <material>Gazebo/Black</material>
      </gazebo>

    <gazebo reference="imu_link">
      <sensor name="imu_sensor" type="imu">
      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
          <ros>
            <namespace>/</namespace>
            <remapping>~/out:=imu</remapping>
          </ros>
          <initial_orientation_as_reference>false</initial_orientation_as_reference>
        </plugin>
        <always_on>true</always_on>
        <update_rate>100</update_rate>
        <visualize>true</visualize>
        <imu>
          <angular_velocity>
            <x>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
                <bias_mean>0.0000075</bias_mean>
                <bias_stddev>0.0000008</bias_stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
                <bias_mean>0.0000075</bias_mean>
                <bias_stddev>0.0000008</bias_stddev>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
                <bias_mean>0.0000075</bias_mean>
                <bias_stddev>0.0000008</bias_stddev>
              </noise>
            </z>
          </angular_velocity>
          <linear_acceleration>
            <x>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
                <bias_mean>0.1</bias_mean>
                <bias_stddev>0.001</bias_stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
                <bias_mean>0.1</bias_mean>
                <bias_stddev>0.001</bias_stddev>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
                <bias_mean>0.1</bias_mean>
                <bias_stddev>0.001</bias_stddev>
              </noise>
            </z>
          </linear_acceleration>
        </imu>
      </sensor>
    </gazebo>

    <gazebo reference="laser_link">
      <sensor name="laser_sensor" type="ray">
      <always_on>true</always_on>
      <visualize>true</visualize>
      <update_rate>5</update_rate>
      <pose>0 0 0.075 0 0 0</pose>
      <ray>
          <scan>
            <horizontal>
              <samples>360</samples>
              <resolution>1.000000</resolution>
              <min_angle>0.000000</min_angle>
              <max_angle>6.280000</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.120000</min>
            <max>3.5</max>
            <resolution>0.015000</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.01</stddev>
          </noise>
      </ray>

      <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
        <ros>
          <!-- <namespace>/tb3</namespace> -->
          <remapping>~/out:=scan</remapping>
        </ros>
        <output_type>sensor_msgs/LaserScan</output_type>
        <frame_name>laser_link</frame_name>
      </plugin>
      </sensor>
    </gazebo>

</robot>

[小鱼]

@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。

use_sim_time:=True

正确的TF如下：