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    cartographer建图失败，报警告：

    已定时 已固定 已锁定 已移动 已解决
    一键安装
    cartographer建图 galactic ubuntu 20.04
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    • 3
      LYPRC
      最后由 编辑

      系统配置

      vm 安装 Ubuntu 20.04.6 LTS
Distributor ID:	Ubuntu
Description:	Ubuntu 20.04.6 LTS
Release:	20.04
Codename:	focal

      ros2版本

      小鱼的一键安装
galactic
同时还安装了，ros的noetic

      情景回放：

      根据CSDN小鱼的教程，

      Gazebo仿真环境的搭建及运行

      以下是俺自己调整过的文件夹树、配置文件、运行结果

      文件夹树

          ├── lyprc_description
    │   ├── launch
    │   │   ├── display_rviz2.launch.py
    │   │   └── gazebo.launch.py
    │   ├── lyprc01.rviz
    │   ├── lyprc_description
    │   │   └── __init__.py
    │   ├── package.xml
    │   ├── resource
    │   │   └── lyprc_description
    │   ├── setup.cfg
    │   ├── setup.py
    │   ├── test
    │   │   ├── test_copyright.py
    │   │   ├── test_flake8.py
    │   │   └── test_pep257.py
    │   ├── urdf
    │   │   ├── lyprc_base.urdf
    │   │   └── lyprc_gazebo.urdf
    │   └── world
    │       └── myhouse01.world

      gazebo.launch.py文件

      import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
    robot_name_in_model = 'lyprcbot'
    package_name = 'lyprc_description'
    urdf_name = "lyprc_gazebo.urdf"
    world_name = "myhouse01.world"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')

    gazebo_world_path = os.path.join(pkg_share, f'world/{world_name}')
    # Start Gazebo server
    start_gazebo_cmd =  ExecuteProcess(
        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
        output='screen')
    # start_gazebo_cmd =  ExecuteProcess(
    #     cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'],
    #     output='screen')
    
    # Launch the robot
    spawn_entity_cmd = Node(
        package='gazebo_ros', 
        executable='spawn_entity.py',
        arguments=['-entity', robot_name_in_model,  '-file', urdf_model_path ], output='screen',
        )
    
    # Start Robot State publisher
    start_robot_state_publisher_cmd = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        arguments=[urdf_model_path],
        )

    # Launch RViz
    start_rviz_cmd = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', "/home/lyprc/LOVE/ROStest/ROSLAM_ws/src/lyprc_description/lyprc01.rviz"],
        )

    ld.add_action(start_gazebo_cmd)
    ld.add_action(spawn_entity_cmd)
    ld.add_action(start_robot_state_publisher_cmd)
    ld.add_action(start_rviz_cmd)

    return ld

      lyprc_gazebo.urdf文件

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


  <!-- 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>
          <!-- 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="lyprc_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>

      gazebo仿真运行效果

      运行指令

      ros:galactic(1) noetic(2) ?
1
lyprc@lyprc-vm-ubuntu2004:~/LOVE/ROStest/ROSLAM_ws$ colcon build 
Starting >>> absl    
Starting >>> lyprc_cartographer
Starting >>> lyprc_description
Finished <<< lyprc_cartographer [0.58s]                      
Finished <<< absl [0.78s]                                     
Finished <<< lyprc_description [1.62s]          

Summary: 3 packages finished [2.61s]
lyprc@lyprc-vm-ubuntu2004:~/LOVE/ROStest/ROSLAM_ws$ source install/setup.bash 
lyprc@lyprc-vm-ubuntu2004:~/LOVE/ROStest/ROSLAM_ws$ ros2 launch lyprc_description gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/lyprc/.ros/log/2024-04-03-15-01-11-164272-lyprc-vm-ubuntu2004-2655
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gazebo-1]: process started with pid [2657]
[INFO] [spawn_entity.py-2]: process started with pid [2659]
[INFO] [robot_state_publisher-3]: process started with pid [2661]
[INFO] [rviz2-4]: process started with pid [2663]
[robot_state_publisher-3] [WARN] [1712127671.602336654] [robot_state_publisher]: No robot_description parameter, but command-line argument available.  Assuming argument is name of URDF file.  This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-3] Link base_link had 5 children
[robot_state_publisher-3] Link caster_link had 0 children
[robot_state_publisher-3] Link imu_link had 0 children
[robot_state_publisher-3] Link laser_link had 0 children
[robot_state_publisher-3] Link left_wheel_link had 0 children
[robot_state_publisher-3] Link right_wheel_link had 0 children
[robot_state_publisher-3] [INFO] [1712127671.673373107] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1712127671.673469172] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1712127671.673530713] [robot_state_publisher]: got segment caster_link
[robot_state_publisher-3] [INFO] [1712127671.673591054] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1712127671.673651094] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-3] [INFO] [1712127671.673711435] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-3] [INFO] [1712127671.673771074] [robot_state_publisher]: got segment right_wheel_link
[spawn_entity.py-2] [INFO] [1712127672.371026930] [spawn_entity]: Spawn Entity started
[spawn_entity.py-2] [INFO] [1712127672.371484217] [spawn_entity]: Loading entity XML from file /home/lyprc/LOVE/ROStest/ROSLAM_ws/install/lyprc_description/share/lyprc_description/urdf/lyprc_gazebo.urdf
[spawn_entity.py-2] [INFO] [1712127672.377082939] [spawn_entity]: Waiting for service /spawn_entity, timeout = 5
[spawn_entity.py-2] [INFO] [1712127672.377476486] [spawn_entity]: Waiting for service /spawn_entity
[rviz2-4] [INFO] [1712127672.959204836] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1712127672.960361664] [rviz2]: OpenGl version: 3.3 (GLSL 3.3)
[rviz2-4] [INFO] [1712127673.082845510] [rviz2]: Stereo is NOT SUPPORTED
[gazebo-1] Gazebo multi-robot simulator, version 11.11.0
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1] 
[gazebo-1] Gazebo multi-robot simulator, version 11.11.0
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1] 
[rviz2-4] Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp

。。。。。。。好多（[rviz2-4]          at line 156...）

大哥看这里
[spawn_entity.py-2] [INFO] [1712127675.267688990] [spawn_entity]: Spawn status: Entity pushed to spawn queue, but spawn service timed outwaiting for entity to appear in simulation under the name [lyprcbot]
[spawn_entity.py-2] [ERROR] [1712127675.268074590] [spawn_entity]: Spawn service failed. Exiting.

[rviz2-4] Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
。。。。。。。好多（[rviz2-4]          at line 156...）
[ERROR] [spawn_entity.py-2]: process has died [pid 2659, exit code 1, cmd '/opt/ros/galactic/lib/gazebo_ros/spawn_entity.py -entity lyprcbot -file /home/lyprc/LOVE/ROStest/ROSLAM_ws/install/lyprc_description/share/lyprc_description/urdf/lyprc_gazebo.urdf --ros-args'].

[gazebo-1] [INFO] [1712127675.927765017] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
[gazebo-1] [INFO] [1712127675.930377570] [diff_drive]: Wheel pair 1 diameter set to [0.065000m]
[gazebo-1] [INFO] [1712127675.933248258] [diff_drive]: Subscribed to [/cmd_vel]
[gazebo-1] [INFO] [1712127675.938882877] [diff_drive]: Advertise odometry on [/odom]
[gazebo-1] [INFO] [1712127675.943610027] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]

。。。。。。。好多（[rviz2-4]          at line 156...）

[gazebo-1] [INFO] [1712127675.977996645] [lyprc_joint_state]: Going to publish joint [right_wheel_joint]
[gazebo-1] [INFO] [1712127675.978190445] [lyprc_joint_state]: Going to publish joint [left_wheel_joint]

。。。。。。。好多（[rviz2-4]          at line 156...）

[gazebo-1] [Msg] Waiting for master.
[gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-1] [Msg] Publicized address: 192.168.164.130
[gazebo-1] context mismatch in svga_surface_destroy
[gazebo-1] context mismatch in svga_surface_destroy
[rviz2-4] [INFO] [1712127686.796322989] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 255.566 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[gazebo-1] 
[gazebo-1] libcurl: (35) OpenSSL SSL_connect: 连接被对方重设 in connection to fuel.ignitionrobotics.org:443 
[gazebo-1] 
[gazebo-1] libcurl: (7) Failed to connect to fuel.gazebosim.org port 443: 拒绝连接

      gazebo效果

      gazebo.png

      rviz 效果

      rviz01.png
      rviz02.png
      rviz03.png
      rviz04.png

      tf树图

      只打开仿真时的tf树.png

      订阅图

      只打开仿真时的订阅.png

      gazebo仿真的主要警告

      [rviz2-4] Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp

      安装配置运行Cartographer

      安装是采取小鱼的一键安装

      文件夹树

      ├── lyprc_cartographer
│   ├── CMakeLists.txt
│   ├── config
│   │   └── lyprc_2d.lua
│   ├── include
│   │   └── lyprc_cartographer
│   ├── launch
│   │   └── cartographer.launch.py
│   ├── package.xml
│   ├── rviz
│   └── src

      配置文件

      cartographer.launch.py

      
import os
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
    # 定位到功能包的地址
    pkg_share = FindPackageShare(package='lyprc_cartographer').find('lyprc_cartographer')
    
    #=====================运行节点需要的配置=======================================================================
    # 是否使用仿真时间，我们用gazebo，这里设置成true
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    # 地图的分辨率
    resolution = LaunchConfiguration('resolution', default='0.05')
    # 地图的发布周期
    publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
    # 配置文件夹路径
    configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
    # 配置文件
    configuration_basename = LaunchConfiguration('configuration_basename', default='lyprc_2d.lua')
    rviz_config_dir = os.path.join(pkg_share, 'config')+"/cartographer.rviz"
    print(f"rviz config in {rviz_config_dir}")

    #=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
    cartographer_node = Node(
        package='cartographer_ros',
        executable='cartographer_node',
        name='cartographer_node',
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=['-configuration_directory', configuration_directory,
                   '-configuration_basename', configuration_basename],
        # remappings = [('scan','/laser')],
        )

    cartographer_occupancy_grid_node = Node(
        package='cartographer_ros',
        executable='occupancy_grid_node',
        name='occupancy_grid_node',
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec],
        )

    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        arguments=['-d', rviz_config_dir],
        parameters=[{'use_sim_time': use_sim_time}],
        output='screen',
        )

    #===============================================定义启动文件========================================================
    ld = LaunchDescription()
    ld.add_action(cartographer_node)
    ld.add_action(cartographer_occupancy_grid_node)
    ld.add_action(rviz_node)

    return ld

      lyprc_2d.lua

      include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  -- base_link改为odom,发布map到odom之间的位姿态
  published_frame = "odom",
  odom_frame = "odom",
  -- true改为false，不用提供里程计数据
  provide_odom_frame = false,
  -- false改为true，仅发布2D位资
  publish_frame_projected_to_2d = true,
  -- false改为true，使用里程计数据
  use_odometry = true,
  use_nav_sat = false,
  use_landmarks = false,
  -- 0改为1,使用一个雷达
  num_laser_scans = 1,
  -- 1改为0，不使用多波雷达
  num_multi_echo_laser_scans = 0,
  -- 10改为1，1/1=1等于不分割
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

-- false改为true，启动2D SLAM
MAP_BUILDER.use_trajectory_builder_2d = true

-- 0改成0.10,比机器人半径小的都忽略
TRAJECTORY_BUILDER_2D.min_range = 0.10
-- 30改成3.5,限制在雷达最大扫描范围内，越小一般越精确些
TRAJECTORY_BUILDER_2D.max_range = 3.5
-- 5改成3,传感器数据超出有效范围最大值
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
-- true改成false,不使用IMU数据，大家可以开启，然后对比下效果
TRAJECTORY_BUILDER_2D.use_imu_data = false
-- false改成true,使用实时回环检测来进行前端的扫描匹配
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true 
-- 1.0改成0.1,提高对运动的敏感度
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)

-- 0.55改成0.65,Fast csm的最低分数，高于此分数才进行优化。
POSE_GRAPH.constraint_builder.min_score = 0.65
--0.6改成0.7,全局定位最小分数，低于此分数则认为目前全局定位不准确
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7

-- 设置0可关闭全局SLAM
-- POSE_GRAPH.optimize_every_n_nodes = 0

return options

      运行指令及效果

      lyprc@lyprc-vm-ubuntu2004:~/LOVE/ROStest/ROSLAM_ws$ colcon build 
Starting >>> absl    
Starting >>> lyprc_cartographer
Starting >>> lyprc_description
Finished <<< lyprc_cartographer [0.78s]                                                                                 
Finished <<< absl [1.05s]                                                            
Finished <<< lyprc_description [1.54s]          

Summary: 3 packages finished [2.09s]
lyprc@lyprc-vm-ubuntu2004:~/LOVE/ROStest/ROSLAM_ws$ source install/setup.bash 
lyprc@lyprc-vm-ubuntu2004:~/LOVE/ROStest/ROSLAM_ws$ ros2 launch lyprc_cartographer cartographer.launch.py 
[INFO] [launch]: All log files can be found below /home/lyprc/.ros/log/2024-04-03-15-57-20-722215-lyprc-vm-ubuntu2004-15614
[INFO] [launch]: Default logging verbosity is set to INFO
rviz config in /home/lyprc/LOVE/ROStest/ROSLAM_ws/install/lyprc_cartographer/share/lyprc_cartographer/config/cartographer.rviz
[INFO] [cartographer_node-1]: process started with pid [15622]
[INFO] [occupancy_grid_node-2]: process started with pid [15624]
[INFO] [rviz2-3]: process started with pid [15626]
[cartographer_node-1] [INFO] [1712131041.004654099] [cartographer_ros]: I0403 15:57:21.000000 15622 configuration_file_resolver.cc:41] Found '/home/lyprc/LOVE/ROStest/ROSLAM_ws/install/lyprc_cartographer/share/lyprc_cartographer/config/lyprc_2d.lua' for 'lyprc_2d.lua'.
[cartographer_node-1] [INFO] [1712131041.005447761] [cartographer_ros]: I0403 15:57:21.000000 15622 configuration_file_resolver.cc:41] Found '/opt/ros/galactic/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [1712131041.005544856] [cartographer_ros]: I0403 15:57:21.000000 15622 configuration_file_resolver.cc:41] Found '/opt/ros/galactic/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [1712131041.005660751] [cartographer_ros]: I0403 15:57:21.000000 15622 configuration_file_resolver.cc:41] Found '/opt/ros/galactic/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-1] [INFO] [1712131041.005730147] [cartographer_ros]: I0403 15:57:21.000000 15622 configuration_file_resolver.cc:41] Found '/opt/ros/galactic/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-1] [INFO] [1712131041.006216924] [cartographer_ros]: I0403 15:57:21.000000 15622 configuration_file_resolver.cc:41] Found '/opt/ros/galactic/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-1] [INFO] [1712131041.006685002] [cartographer_ros]: I0403 15:57:21.000000 15622 configuration_file_resolver.cc:41] Found '/opt/ros/galactic/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-1] [INFO] [1712131041.007238775] [cartographer_ros]: I0403 15:57:21.000000 15622 configuration_file_resolver.cc:41] Found '/opt/ros/galactic/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [1712131041.007327371] [cartographer_ros]: I0403 15:57:21.000000 15622 configuration_file_resolver.cc:41] Found '/opt/ros/galactic/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [1712131041.007480964] [cartographer_ros]: I0403 15:57:21.000000 15622 configuration_file_resolver.cc:41] Found '/opt/ros/galactic/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-1] [INFO] [1712131041.007553060] [cartographer_ros]: I0403 15:57:21.000000 15622 configuration_file_resolver.cc:41] Found '/opt/ros/galactic/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-1] [INFO] [1712131041.148905592] [cartographer_ros]: I0403 15:57:21.000000 15622 submap_2d.cc:187] Added submap 1
[cartographer_node-1] [INFO] [1712131041.149095083] [cartographer_ros]: I0403 15:57:21.000000 15622 map_builder_bridge.cc:132] Added trajectory with ID '0'.
[cartographer_node-1] Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist
[cartographer_node-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[cartographer_node-1] [INFO] [1712131041.208839523] [cartographer_ros]: I0403 15:57:21.000000 15622 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '621355988732800000'.
[cartographer_node-1] [INFO] [1712131041.209073512] [cartographer_ros]: I0403 15:57:21.000000 15622 local_trajectory_builder_2d.cc:295] Extrapolator not yet initialized.
[cartographer_node-1] [WARN] [1712131041.211820980] [cartographer_ros]: W0403 15:57:21.000000 15622 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 ms
[occupancy_grid_node-2] [WARN] [1712131042.003545074] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[rviz2-3] [INFO] [1712131042.605491716] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1712131042.605837599] [rviz2]: OpenGl version: 3.3 (GLSL 3.3)
[rviz2-3] [INFO] [1712131042.720081141] [rviz2]: Stereo is NOT SUPPORTED
[occupancy_grid_node-2] [WARN] [1712131043.003230614] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [1712131044.003080849] [occupancy_grid_node]: submap_slices and last_frame_id is empty

      rviz和tf树及订阅关系图

      slam的rviz.png
      slam的tf树.png
      slam的订阅图.png

      错误表现 ：运行slam后的rviz里的map显示Frame [map] does not exist

      框架[map]不存在

      球球各位好心人麻烦给小弟看看吧，小弟已经被折磨死了

      1 条回复 最后回复 回复 引用 0
      • 3
        LYPRC
        最后由 编辑

        cartographer警告:[occupancy_grid_node-2] [WARN] [1712131755.556136200] [occupancy_grid_node]: submap_slices and last_frame_id is empty

        1 条回复 最后回复 回复 引用 0
        • 3
          LYPRC
          最后由 编辑

          激光雷达数据和odom数据

          ros2 topic echo /scan
---
header:
  stamp:
    sec: 2746
    nanosec: 236000000
  frame_id: laser_link
angle_min: 0.0
angle_max: 6.28000020980835
angle_increment: 0.01749303564429283
time_increment: 0.0
scan_time: 0.0
range_min: 0.11999999731779099
range_max: 3.5
ranges:
- 0.1357576549053192
- 0.13274267315864563
- 0.13491924107074738
- 0.12728963792324066
- 0.14018651843070984
- 0.12947429716587067
- 0.12550762295722961
- 0.13136516511440277
- 0.13024954497814178
- 0.11999999731779099
- 0.1615028977394104
- 0.12435409426689148
- 0.1320551633834839
- 0.1409989297389984
- 0.13507522642612457
- 0.12268535047769547
- 0.1404579132795334
- 0.13761071860790253
- 0.1503773033618927
- 0.12420032173395157
- 0.13359826803207397
- 0.11999999731779099
- 0.13831619918346405
- 0.1477203220129013
- 0.1642967164516449
- 0.12940004467964172
- 0.13067279756069183
- 0.14587172865867615
- 0.1440461277961731
- 0.13927079737186432
- 0.14637331664562225
- 0.1444903016090393
- 0.15897628664970398
- 0.13588352501392365
- 0.1636868715286255
- 0.155186265707016
- 0.14988493919372559
- 0.15125592052936554
- 0.1648588478565216
- 0.17682687938213348
- 0.18185685575008392
- 0.16568540036678314
- 0.159017413854599
- 0.174812912940979
- 0.16447405517101288
- 0.1809515804052353
- 0.18421538174152374
- 0.1739244908094406
- 0.18986830115318298
- 0.18216152489185333
- 0.21208709478378296
- 0.21196608245372772
- 0.20567473769187927
- 0.19463729858398438
- 0.23318085074424744
- 0.23568953573703766
- 0.2256600558757782
- 0.22568027675151825
- 0.2326006144285202
- 0.26731249690055847
- 0.24962016940116882
- 0.2763374149799347
- 0.273208349943161
- 0.2861330211162567
- 0.3047672212123871
- 0.30232295393943787
- 0.30729132890701294
- 0.31756049394607544
- 0.34554943442344666
- 0.34511616826057434
- 0.37451374530792236
- 0.37072256207466125
- 0.4023578464984894
- 0.4413558840751648
- 0.43559730052948
- 0.4920308589935303
- 0.5098116993904114
- 0.5451174378395081
- 0.5837374925613403
- 0.6548380255699158
- 0.6910128593444824
- 0.7842224836349487
- 0.8446397185325623
- 0.9695355296134949
- 1.1217998266220093
- 1.319140911102295
- 1.580551266670227
- 2.0140998363494873
- 2.7679007053375244
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- '...'
intensities:
- 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
- 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
- 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
- '...'
---


          ros2 topic echo /odom
---
header:
  stamp:
    sec: 2868
    nanosec: 167000000
  frame_id: odom
child_frame_id: base_footprint
pose:
  pose:
    position:
      x: 0.0009427214987770558
      y: -0.0003296974495629194
      z: 0.015999687516554978
    orientation:
      x: 3.9623270712921966e-07
      y: 7.119830491485281e-06
      z: -0.008208864600624864
      w: 0.99996630667794
  covariance:
  - 1.0e-05
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1.0e-05
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.001
twist:
  twist:
    linear:
      x: -6.883061792922824e-07
      y: -1.2410642423866674e-07
      z: 0.0
    angular:
      x: 0.0
      y: 0.0
      z: -6.180685727256352e-06
  covariance:
  - 1.0e-05
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1.0e-05
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.001
---
          Y 1 条回复 最后回复 回复 引用 0
          • 3 319276657 将这个主题转为问答主题，在
          • 3 319276657 将这个主题标记为已解决，在
          • Y
            yu @319276657
            最后由 编辑

            @319276657 兄弟解决了吗，我现在也报[occupancy_grid_node]: submap_slices and last_frame_id is empty，方便讲一下你是怎么解决的吗？感谢

            1 条回复 最后回复 回复 引用 0
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