动手学ros2 catrographer建图，没有/map话题但是Rviz2中不显示，Rviz2里也看不到雷达

[1194100657]

/home/ljy/图片/Screenshot-3.png

/home/ljy/图片/Screenshot-5.png

/home/ljy/图片/Screenshot-6.png

这是cmakelists

cmake_minimum_required(VERSION 3.8)
project(fishbot_cartographer)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

install(
  DIRECTORY config launch rviz
  DESTINATION share/${PROJECT_NAME}
)


# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()



ament_package()

ROS2学习 第十章 3. 配置Fishbot进行建图
有时候运行node list里有/map话题，但是rviz2里不显示有。把install那几句换了几个位置也都不对。

[小鱼]

@1194100657 直接运行slam_toolbox 建图试试：

ros2 launch slam_toolbox online_async_launch.py use_sim_time:=False
---
[INFO] [launch]: All log files can be found below /home/fishros/.ros/log/2023-10-02-22-52-36-917373-fishros-linux-79801
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [async_slam_toolbox_node-1]: process started with pid [79802]
[async_slam_toolbox_node-1] [INFO] [1696258356.969203979] [slam_toolbox]: Node using stack size 40000000
[async_slam_toolbox_node-1] [INFO] [1696258356.987488838] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-1] [INFO] [1696258356.987606280] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[async_slam_toolbox_node-1] Info: clipped range threshold to be within minimum and maximum range!
[async_slam_toolbox_node-1] [WARN] [1696258357.129191771] [slam_toolbox]: maximum laser range setting (20.0 m) exceeds the capabilities of the used Lidar (8.0 m)
[async_slam_toolbox_node-1] Registering sensor: [Custom Described Lidar]

[yangchunlong1987]

我也遇到同样的问题呀，不得其解，你解决了么？

[1029302233]

@yangchunlong1987 我也是这个问题，就用那个存起来的图片，然后开启rviz2，加载地图，rviz2就是显示没有收到/map，好奇怪