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    求助FishBot二驱雷达驱动及建图测试中雷达坐标飘移

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    • 2
      2177527864
      最后由 编辑

      标题：9.0.6. 雷达驱动及建图测试中雷达坐标飘移

      背景：

      双系统ubuntu22.04humble，学校没有网线连接，使用了中兴的zte ax3000路由器（192.168.5.1）直接使用（没有网络接入），局域网下有雷达（192.168.5.16）和底盘（192.168.5.17）两个设备无线连接2.4G，有线连接了电脑设备（192.168.5.15），可以从电脑ping通各个设备，延迟在3ms左右。调试一下午无果求助。

      问题描述：

      启动后选择1,2都没有任何问题，启动2可以使用rviz2查看/scan有显示

      xhost + && sudo docker run  -it --rm  -v /dev:/dev -v /dev/shm:/dev/shm --privileged  -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=unix$DISPLAY -p 8889:8888 registry.cn-hangzhou.aliyuncs.com/fishros/fishbot_laser

      启动3后大概10秒左右，坐标laser_frame一直摆动，有时候启动会较大的移动。是无规律移动偏移。
      d1c353a6-bf92-4e32-a876-9eedb132fd36-截图 2025-04-06 18-40-13.png
      相关的报错

      [rviz2-5] [ERROR] [1743936304.165026789] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1743936304.170122 but the latest data is at time 1743936304.170122, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1743936304.292711213] [cartographer logger]: W0406 10:45:04.000000  1193 range_data_collator.cc:82] Dropped 58 earlier points.
[rviz2-5] [ERROR] [1743936304.420242841] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1743936304.428886 but the latest data is at time 1743936304.428886, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1743936304.492232970] [cartographer logger]: W0406 10:45:04.000000  1193 range_data_collator.cc:82] Dropped 122 earlier points.
[rviz2-5] [ERROR] [1743936304.868194892] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1743936304.867202 but the latest data is at time 1743936304.867202, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1743936304.971373479] [cartographer logger]: W0406 10:45:04.000000  1193 range_data_collator.cc:82] Dropped 33 earlier points.
[cartographer_node-3] [WARN] [1743936305.324056287] [cartographer logger]: W0406 10:45:05.000000  1193 range_data_collator.cc:82] Dropped 61 earlier points.
[cartographer_node-3] [WARN] [1743936305.680169519] [cartographer logger]: W0406 10:45:05.000000  1193 range_data_collator.cc:82] Dropped 20 earlier points.
[rviz2-5] [ERROR] [1743936305.701237037] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1743936305.718245 but the latest data is at time 1743936305.718245, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1743936305.801039702] [cartographer logger]: W0406 10:45:05.000000  1193 range_data_collator.cc:82] Dropped 128 earlier points.
[rviz2-5] [ERROR] [1743936305.924088589] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1743936305.915421 but the latest data is at time 1743936305.914595, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1743936306.156616341] [cartographer logger]: W0406 10:45:06.000000  1193 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1743936306.275210361] [cartographer logger]: W0406 10:45:06.000000  1193 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1743936306.392834396] [cartographer logger]: W0406 10:45:06.000000  1193 range_data_collator.cc:82] Dropped 2 earlier points.
[rviz2-5] [ERROR] [1743936306.756869305] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1743936306.750092 but the latest data is at time 1743936306.744621, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1743936306.867860838] [cartographer logger]: W0406 10:45:06.000000  1193 range_data_collator.cc:82] Dropped 4 earlier points.
[rviz2-5] [INFO] [1743936306.883874273] [rviz2]: Trying to create a map of size 281 x 239 using 1 swatches
[cartographer_node-3] [WARN] [1743936307.342311675] [cartographer logger]: W0406 10:45:07.000000  1193 range_data_collator.cc:82] Dropped 2 earlier points.
[cartographer_node-3] [WARN] [1743936307.462635721] [cartographer logger]: W0406 10:45:07.000000  1193 range_data_collator.cc:82] Dropped 1 earlier points.
[rviz2-5] [ERROR] [1743936307.587843617] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1743936307.581517 but the latest data is at time 1743936307.579507, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [INFO] [1743936307.589459883] [cartographer logger]: I0406 10:45:07.000000  1245 pose_graph_2d.cc:538] Remaining work items in queue: 0
[cartographer_node-3] [INFO] [1743936307.589515821] [cartographer logger]: I0406 10:45:07.000000  1245 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1743936307.589533909] [cartographer logger]: I0406 10:45:07.000000  1245 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
[cartographer_node-3] [WARN] [1743936307.698499566] [cartographer logger]: W0406 10:45:07.000000  1193 range_data_collator.cc:82] Dropped 3 earlier points.
[cartographer_node-3] [INFO] [1743936307.705796381] [cartographer logger]: I0406 10:45:07.000000  1193 pose_graph_2d.cc:148] Inserted submap (0, 2).
[cartographer_node-3] [WARN] [1743936307.819832681] [cartographer logger]: W0406 10:45:07.000000  1193 range_data_collator.cc:82] Dropped 3 earlier points.
[rviz2-5] [ERROR] [1743936307.939551212] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1743936307.940473 but the latest data is at time 1743936307.934516, when looking up transform from frame [laser_frame] to frame [map]

      然后再次打开一个rviz2，/scan正常，odom和map移动异常（小车静止）怀疑是odom、map的问题。

      [ydlidar_node-6] [2025-04-06 10:52:13][error] Timeout count: 1
[ydlidar_node-6] [2025-04-06 10:52:13][error] Timeout count: 2
[ydlidar_node-6] [2025-04-06 10:52:13][error] Timeout count: 3
[cartographer_node-3] [INFO] [1743936733.740978075] [cartographer logger]: I0406 10:52:13.000000  1193 node.cpp:569] Shutdown the subscriber of [scan]
[cartographer_node-3] [INFO] [1743936733.741022840] [cartographer logger]: I0406 10:52:13.000000  1193 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'...
[cartographer_node-3] [WARN] [1743936733.741097461] [cartographer logger]: W0406 10:52:13.000000  1193 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now.
[cartographer_node-3] [INFO] [1743936733.741111484] [cartographer logger]: I0406 10:52:13.000000  1193 node.cpp:551] Trajectory 0 already pending to finish.
[cartographer_node-3] [INFO] [1743936733.741125170] [cartographer logger]: I0406 10:52:13.000000  1193 map_builder_bridge.cpp:161] Running final trajectory optimization...
[cartographer_node-3] [INFO] [1743936733.741155903] [cartographer logger]: I0406 10:52:13.000000  1245 pose_graph_2d.cc:538] Remaining work items in queue: 0
[cartographer_node-3] [INFO] [1743936733.741208203] [cartographer logger]: I0406 10:52:13.000000  1245 constraint_builder_2d.cc:290] 25 computations resulted in 3 additional constraints.
[cartographer_node-3] [INFO] [1743936733.741281094] [cartographer logger]: I0406 10:52:13.000000  1245 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 131  Min: 0.650471  Max: 0.898431  Mean: 0.752449
[cartographer_node-3] [0.650471, 0.675267)	                  ##	Count: 15 (11.4504%)	Total: 15 (11.4504%)
[cartographer_node-3] [0.675267, 0.700063)	                  ##	Count: 11 (8.39695%)	Total: 26 (19.8473%)
[cartographer_node-3] [0.700063, 0.724859)	                  ##	Count: 11 (8.39695%)	Total: 37 (28.2443%)
[cartographer_node-3] [0.724859, 0.749655)	                ####	Count: 24 (18.3206%)	Total: 61 (46.5649%)
[cartographer_node-3] [0.749655, 0.774451)	                ####	Count: 29 (22.1374%)	Total: 90 (68.7023%)
[cartographer_node-3] [0.774451, 0.799247)	                 ###	Count: 22 (16.7939%)	Total: 112 (85.4962%)
[cartographer_node-3] [0.799247, 0.824043)	                   #	Count: 8 (6.10687%)	Total: 120 (91.6031%)
[cartographer_node-3] [0.824043, 0.848839)	                    	Count: 2 (1.52672%)	Total: 122 (93.1298%)
[cartographer_node-3] [0.848839, 0.873635)	                   #	Count: 4 (3.05344%)	Total: 126 (96.1832%)
[cartographer_node-3] [0.873635, 0.898431]	                   #	Count: 5 (3.81679%)	Total: 131 (100%)
[cartographer_node-3] [INFO] [1743936733.797947533] [cartographer logger]: I0406 10:52:13.000000  1245 pose_graph_2d.cc:538] Remaining work items in queue: 1
[cartographer_node-3] [INFO] [1743936733.797970028] [cartographer logger]: I0406 10:52:13.000000  1245 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1743936733.798014465] [cartographer logger]: I0406 10:52:13.000000  1245 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 131  Min: 0.650471  Max: 0.898431  Mean: 0.752449
[cartographer_node-3] [0.650471, 0.675267)	                  ##	Count: 15 (11.4504%)	Total: 15 (11.4504%)
[cartographer_node-3] [0.675267, 0.700063)	                  ##	Count: 11 (8.39695%)	Total: 26 (19.8473%)
[cartographer_node-3] [0.700063, 0.724859)	                  ##	Count: 11 (8.39695%)	Total: 37 (28.2443%)
[cartographer_node-3] [0.724859, 0.749655)	                ####	Count: 24 (18.3206%)	Total: 61 (46.5649%)
[cartographer_node-3] [0.749655, 0.774451)	                ####	Count: 29 (22.1374%)	Total: 90 (68.7023%)
[cartographer_node-3] [0.774451, 0.799247)	                 ###	Count: 22 (16.7939%)	Total: 112 (85.4962%)
[cartographer_node-3] [0.799247, 0.824043)	                   #	Count: 8 (6.10687%)	Total: 120 (91.6031%)
[cartographer_node-3] [0.824043, 0.848839)	                    	Count: 2 (1.52672%)	Total: 122 (93.1298%)
[cartographer_node-3] [0.848839, 0.873635)	                   #	Count: 4 (3.05344%)	Total: 126 (96.1832%)
[cartographer_node-3] [0.873635, 0.898431]	                   #	Count: 5 (3.81679%)	Total: 131 (100%)
[cartographer_node-3] [INFO] [1743936733.813257007] [cartographer logger]: I0406 10:52:13.000000  1244 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1743936733.813303709] [cartographer logger]: I0406 10:52:13.000000  1244 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 131  Min: 0.650471  Max: 0.898431  Mean: 0.752449
[cartographer_node-3] [0.650471, 0.675267)	                  ##	Count: 15 (11.4504%)	Total: 15 (11.4504%)
[cartographer_node-3] [0.675267, 0.700063)	                  ##	Count: 11 (8.39695%)	Total: 26 (19.8473%)
[cartographer_node-3] [0.700063, 0.724859)	                  ##	Count: 11 (8.39695%)	Total: 37 (28.2443%)
[cartographer_node-3] [0.724859, 0.749655)	                ####	Count: 24 (18.3206%)	Total: 61 (46.5649%)
[cartographer_node-3] [0.749655, 0.774451)	                ####	Count: 29 (22.1374%)	Total: 90 (68.7023%)
[cartographer_node-3] [0.774451, 0.799247)	                 ###	Count: 22 (16.7939%)	Total: 112 (85.4962%)
[cartographer_node-3] [0.799247, 0.824043)	                   #	Count: 8 (6.10687%)	Total: 120 (91.6031%)
[cartographer_node-3] [0.824043, 0.848839)	                    	Count: 2 (1.52672%)	Total: 122 (93.1298%)
[cartographer_node-3] [0.848839, 0.873635)	                   #	Count: 4 (3.05344%)	Total: 126 (96.1832%)
[cartographer_node-3] [0.873635, 0.898431]	                   #	Count: 5 (3.81679%)	Total: 131 (100%)
[cartographer_node-3] [INFO] [1743936733.815327771] [cartographer logger]: I0406 10:52:13.000000  1246 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1743936733.815367107] [cartographer logger]: I0406 10:52:13.000000  1246 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 131  Min: 0.650471  Max: 0.898431  Mean: 0.752449
[cartographer_node-3] [0.650471, 0.675267)	                  ##	Count: 15 (11.4504%)	Total: 15 (11.4504%)
[cartographer_node-3] [0.675267, 0.700063)	                  ##	Count: 11 (8.39695%)	Total: 26 (19.8473%)
[cartographer_node-3] [0.700063, 0.724859)	                  ##	Count: 11 (8.39695%)	Total: 37 (28.2443%)
[cartographer_node-3] [0.724859, 0.749655)	                ####	Count: 24 (18.3206%)	Total: 61 (46.5649%)
[cartographer_node-3] [0.749655, 0.774451)	                ####	Count: 29 (22.1374%)	Total: 90 (68.7023%)
[cartographer_node-3] [0.774451, 0.799247)	                 ###	Count: 22 (16.7939%)	Total: 112 (85.4962%)
[cartographer_node-3] [0.799247, 0.824043)	                   #	Count: 8 (6.10687%)	Total: 120 (91.6031%)
[cartographer_node-3] [0.824043, 0.848839)	                    	Count: 2 (1.52672%)	Total: 122 (93.1298%)
[cartographer_node-3] [0.848839, 0.873635)	                   #	Count: 4 (3.05344%)	Total: 126 (96.1832%)
[cartographer_node-3] [0.873635, 0.898431]	                   #	Count: 5 (3.81679%)	Total: 131 (100%)
Optimizing: Done.     
Optimizing: Done.     
[ydlidar_node-6] [YDLIDAR ERROR]: -1 Device is not open
[ydlidar_node-6] [ERROR] [1743936734.545499440] [ydlidar_node]: Failed to get scan
[ydlidar_node-6] [INFO] [1743936734.545534686] [ydlidar_node]: [YDLIDAR INFO] Now YDLIDAR is stopping .......
[ydlidar_node-6] [2025-04-06 10:52:14][info] Now lidar scanning has stopped!
[INFO] [ydlidar_node-6]: process has finished cleanly [pid 1306]

      补充的红色报错。

      具体细节和上下文：

      3acef0db-0d60-4299-835e-503b41768630-截图 2025-04-06 18-49-35.png
      更加离谱了，所有过程都是按照教程进行。

      尝试过的解决方法：

      重新烧录，重新配置都已经用过，问了ai怀疑是时间未同步的导致数据丢失，还配置了chrony同步时间问题。网络配置尝试过两三次。

      2 小鱼小 1 3 条回复 最后回复 回复 引用 0
      • 2
        2177527864 @2177527864
        最后由 编辑

        @2177527864 @小鱼

        1 条回复 最后回复 回复 引用 0
        • 小鱼小
          小鱼 技术大佬 @2177527864
          最后由 编辑

          @2177527864 直接驱动雷达看看那，电脑这边有线连接试一试

          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

          1 1 条回复 最后回复 回复 引用 0
          • 1
            196122006 @2177527864
            最后由 编辑

            @2177527864 老哥搞好了没有，我也是卡在这里

            1 条回复 最后回复 回复 引用 0
            • 1
              196122006 @小鱼
              最后由 编辑

              @小鱼小鱼老师， 我的问题和他一样，a4cc88db-64b8-4a01-9f4b-78d0df7feeac.png 我的雷达驱动是这样的，过了一会会有报错，用的是有线连接。还换过路由器

              小鱼小 1 条回复 最后回复 回复 引用 0
              • 小鱼小
                小鱼 技术大佬 @196122006
                最后由 编辑

                @196122006 这个看起来很正常，一点问题都没有

                新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                1 1 条回复 最后回复 回复 引用 0
                • 1
                  196122006 @小鱼
                  最后由 编辑

                  @小鱼 Ctrl c之后输入3，建图运气好点半分钟，他不会漂移，然后大部分房间都可以明显建图出来，然后就直接开始漂移。我用的也是有线连接路由器，路由器就充个电和连接电脑，是不是通信一会儿之后会出现错误？这里是不是可以察觉哪里有问题？

                  小鱼小 2 条回复 最后回复 回复 引用 0
                  • 小鱼小
                    小鱼 技术大佬 @196122006
                    最后由 编辑

                    @196122006 路由器只有小车一个设备在用是吗

                    新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                    1 1 条回复 最后回复 回复 引用 0
                    • 小鱼小
                      小鱼 技术大佬 @196122006
                      最后由 编辑

                      @196122006 拍个建图视频发我微信

                      新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                      1 条回复 最后回复 回复 引用 0
                      • 1
                        196122006 @小鱼
                        最后由 编辑

                        @小鱼 电脑也连接了，没网我也连接了，好的小鱼老师等一会我拍个视频晚点去公众号那里加你微信

                        2 1 条回复 最后回复 回复 引用 0
                        • 2
                          2177527864 @196122006
                          最后由 编辑

                          @196122006 老哥昨样了，上次没搞好搞别的事情去了

                          1 条回复 最后回复 回复 引用 0
                          • 2
                            2971106661
                            最后由 编辑

                            同样的问题，小车坐标轴旋转着飞了

                            小鱼小 1 条回复 最后回复 回复 引用 0
                            • 小鱼小
                              小鱼 技术大佬 @2971106661
                              最后由 编辑

                              @2971106661 雷达数据稳定否

                              新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                              1 条回复 最后回复 回复 引用 0
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