使用slam_toolbox建图时候出现的问题

小鱼

@1014535185

liajun

@1014535185 您好，我遇到了和您一样的问题，您最后重新编译底盘代码就好了么？为什么呢？单独编译底盘代码么？我的报错、topic list以及rviz显示和您一模一样，还望您有时间为我解答一下困惑

1363573994

@liajun 我也是这个问题一模一样

一百个苹果

@1363573994 我也是，本来以为虚拟机网络不好导致的，但是物理机试了还是一样的情况，毫无头绪

小鱼

@1363573994 哪一个视频章节遇到的问题，该开的节点是否都开了

1363573994

@小鱼第九章最后两步，配置完bringup.launch.py以后，然后运行bringup.launch.py，我看了micro-ROS Agent也连上了，然后雷达的wifi也连上了，topic list也有map，然后echo map也有数据，就是rviz2显示no map receive

小鱼

@1363573994 这个是rviz配置问题，看一下视频教程操作

1363573994

@小鱼 charles@charles-VirtualBox:~/microros_ws/src/fishbot_navigation2/maps$ ros2 topic info /scan -v
Type: sensor_msgs/msg/LaserScan

Publisher count: 1

Node name: ydlidar_node
Node namespace: /
Topic type: sensor_msgs/msg/LaserScan
Endpoint type: PUBLISHER
GID: 01.0f.2e.b3.0b.83.5c.28.00.00.00.00.00.00.12.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: BEST_EFFORT
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Subscription count: 1

Node name: rviz
Node namespace: /
Topic type: sensor_msgs/msg/LaserScan
Endpoint type: SUBSCRIPTION
GID: 01.0f.2e.b3.53.83.7d.23.00.00.00.00.00.00.26.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: BEST_EFFORT
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

我检查了一下是一样的吧，这是info出的报文

1363573994

@小鱼 charles@charles-VirtualBox:~/microros_ws$ ros2 topic info /map -v
Type: nav_msgs/msg/OccupancyGrid

Publisher count: 1

Node name: slam_toolbox
Node namespace: /
Topic type: nav_msgs/msg/OccupancyGrid
Endpoint type: PUBLISHER
GID: 01.0f.2e.b3.6b.fc.c5.3b.00.00.01.00.00.00.18.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: TRANSIENT_LOCAL
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Subscription count: 2

Node name: rviz
Node namespace: /
Topic type: nav_msgs/msg/OccupancyGrid
Endpoint type: SUBSCRIPTION
GID: 01.0f.2e.b3.07.fe.ae.93.00.00.00.00.00.00.24.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Node name: slam_toolbox
Node namespace: /
Topic type: nav_msgs/msg/OccupancyGrid
Endpoint type: SUBSCRIPTION
GID: 01.0f.2e.b3.6b.fc.c5.3b.00.00.01.00.00.00.25.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

这个时启动完所有节点以后，然后启动slam-tool建图，再打开rviz2以后 info /map的报文，这里类型有点不一样，不知道是不是这个问题，然后echo /map没有数据，我网上也没有找到资料，鱼哥救救我

小鱼

@1363573994 在使用slam_toolbox建图时候出现的问题中说：

Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: TRANSIENT_LOCAL

可能是qos不兼容？不过你 echo /map 没有数据很奇怪