建图时，代表小车（或者雷达）位置的坐标轴突然飘走

83454211 0

局域网，2.4G ，双频合一关闭，网络延迟4ms以内，开始建图时正常，建图结果能看到房间轮廓，几秒钟后，代表雷达或者小车的坐标轴突然飘走，（此时小车是静止的）。建图结果看不出房间轮廓，失败。另一种情况是rviz中代表小车的坐标轴突然转个方向（此时小车是静止的），地图突然换个方向，建图结果看不出房间轮廓，建图失败。微信图片_20250526111116.png 微信图片_20250526111129.jpg

小鱼

@83454211-0 用的哪款雷达

小鱼

@83454211-0 雷达驱动的终端日志提供一下

83454211

@小鱼 cyf@cyf-vm:~/Desktop$ ^C
cyf@cyf-vm:~/Desktop$ 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
access control disabled, clients can connect from any host
[sudo] password for cyf:
欢迎鱼香ROS使用雷达驱动系统，注意当前版本为ROS2版本驱动哦~

WIFI转串口测试
驱动雷达
建图测试
退出
#? 2
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-05-26-13-31-09-404105-05fbc5873afd-58
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_tcp_node-1]: process started with pid [59]
[ydlidar_tcp_node-1] [INFO] [1748266272.296373182] [ydlidar_node]: 等待激光雷达TCP连接: 0.0.0.0:8888
[ydlidar_tcp_node-1] [INFO] [1748266272.532116829] [ydlidar_node]: 激光雷达已连接: ('192.168.1.11', 56625)
[ydlidar_tcp_node-1] [INFO] [1748266272.547755624] [ydlidar_node]: 雷达X2数据校验正确,开始解析数据
[ydlidar_tcp_node-1] [INFO] [1748266275.612581642] [ydlidar_node]: /scan话题平均发布速率: 7.13 Hz
[ydlidar_tcp_node-1] [INFO] [1748266278.706917788] [ydlidar_node]: /scan话题平均发布速率: 7.11 Hz
[ydlidar_tcp_node-1] [INFO] [1748266281.803216795] [ydlidar_node]: /scan话题平均发布速率: 7.11 Hz
[ydlidar_tcp_node-1] [INFO] [1748266284.8893
26395] [ydlidar_node]: /scan话题平均发布速率: 7.13 Hz
[ydlidar_tcp_node-1] [INFO] [1748266287.989197137] [ydlidar_node]: /scan话题平均发布速率: 7.11 Hz
[ydlidar_tcp_node-1] [INFO] [1748266291.064862653] [ydlidar_node]: /scan话题平均发布速率: 7.14 Hz
[ydlidar_tcp_node-1] [INFO] [1748266294.151911245] [ydlidar_node]: /scan话题平均发布速率: 7.13 Hz
[ydlidar_tcp_node-1] [INFO] [1748266297.243561051] [ydlidar_node]: /scan话题平均发布速率: 7.12 Hz
[ydlidar_tcp_node-1] [INFO] [1748266300.336556951] [ydlidar_node]: /scan话题平均发布速率: 7.10 Hz

83454211

@小鱼库存新雷达

83454211

@小鱼是上面的雷达日志吗？

小鱼

@83454211 是的，加我微信吧，抽空远程后给你看看

83454211

@小鱼 [INFO] [1748386203.898150584] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1748386203.900742144] [rviz2]: OpenGl version: 3.3 (GLSL 3.3)
[rviz2-5] [INFO] [1748386204.342514926] [rviz2]: Stereo is NOT SUPPORTED
[ydlidar_tcp_node-1] [INFO] [1748386207.681149158] [ydlidar_node]: 等待激光雷达TCP连接: 0.0.0.0:8888
[ydlidar_tcp_node-1] [INFO] [1748386207.706139451] [ydlidar_node]: 激光雷达已连接: ('192.168.1.12', 57939)
[ydlidar_tcp_node-1] [INFO] [1748386209.943697588] [ydlidar_node]: 雷达X2数据校验正确,开始解析数据
[cartographer_node-3] [INFO] [1748386210.153783475] [cartographer logger]: I0527 22:50:10.000000 63 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638839830102290294'.
[cartographer_node-3] [INFO] [1748386210.166501683] [cartographer logger]: I0527 22:50:10.000000 63 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing.
[cartographer_node-3] [INFO] [1748386210.363551458] [cartographer logger]: I0527 22:50:10.000000 63 pose_graph_2d.cc:148] Inserted submap (0, 0).
[rviz2-5] [ERROR] [1748386210.916101754] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386210.740100 but the latest data is at time 1748386210.653266, when looking up transform from frame [laser_frame] to frame [map]
[rviz2-5] [INFO] [1748386210.916532461] [rviz2]: Trying to create a map of size 109 x 66 using 1 swatches
[rviz2-5] [ERROR] [1748386211.231362436] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
[rviz2-5] active samplers with a different type refer to the same texture image unit
[ydlidar_tcp_node-1] [INFO] [1748386213.187431963] [ydlidar_node]: /scan话题平均发布速率: 3.33 Hz
[cartographer_node-3] [INFO] [1748386215.325585967] [cartographer logger]: I0527 22:50:15.000000 63 collated_trajectory_builder.cc:81] scan rate: 3.27 Hz 3.06e-01 s +/- 6.11e-02 s (pulsed at 100.74% real time)
[cartographer_node-3] [WARN] [1748386216.045205682] [cartographer logger]: W0527 22:50:15.000000 63 range_data_collator.cc:82] Dropped 14 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386216.285722074] [ydlidar_node]: /scan话题平均发布速率: 3.54 Hz
[ydlidar_tcp_node-1] [INFO] [1748386219.477045950] [ydlidar_node]: /scan话题平均发布速率: 3.13 Hz
[rviz2-5] [INFO] [1748386220.158128278] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1748386210.105 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1748386220.311213102] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1748386210.302 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1748386221.885265190] [rviz2]: Trying to create a map of size 109 x 67 using 1 swatches
[ydlidar_tcp_node-1] [INFO] [1748386222.535384124] [ydlidar_node]: /scan话题平均发布速率: 3.95 Hz
[ydlidar_tcp_node-1] [INFO] [1748386225.870843664] [ydlidar_node]: /scan话题平均发布速率: 3.96 Hz
[cartographer_node-3] [WARN] [1748386228.679486013] [cartographer logger]: W0527 22:50:28.000000 63 range_data_collator.cc:82] Dropped 89 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386228.877491081] [ydlidar_node]: /scan话题平均发布速率: 3.88 Hz
[cartographer_node-3] [INFO] [1748386230.575389683] [cartographer logger]: I0527 22:50:30.000000 63 collated_trajectory_builder.cc:81] scan rate: 3.81 Hz 2.62e-01 s +/- 9.24e-02 s (pulsed at 99.94% real time)
[ydlidar_tcp_node-1] [INFO] [1748386231.915153505] [ydlidar_node]: /scan话题平均发布速率: 3.98 Hz
[rviz2-5] [INFO] [1748386232.015322658] [rviz2]: Trying to create a map of size 110 x 67 using 1 swatches
[ydlidar_tcp_node-1] [INFO] [1748386235.057700291] [ydlidar_node]: /scan话题平均发布速率: 4.43 Hz
[ydlidar_tcp_node-1] [INFO] [1748386238.227375934] [ydlidar_node]: /scan话题平均发布速率: 4.77 Hz
[ydlidar_tcp_node-1] [INFO] [1748386241.390746458] [ydlidar_node]: /scan话题平均发布速率: 4.72 Hz
[ydlidar_tcp_node-1] [INFO] [1748386244.445296126] [ydlidar_node]: /scan话题平均发布速率: 4.59 Hz
[cartographer_node-3] [INFO] [1748386245.639727066] [cartographer logger]: I0527 22:50:45.000000 63 collated_trajectory_builder.cc:81] scan rate: 4.52 Hz 2.21e-01 s +/- 4.43e-02 s (pulsed at 100.03% real time)
[ydlidar_tcp_node-1] [INFO] [1748386247.610468128] [ydlidar_node]: /scan话题平均发布速率: 4.41 Hz
[ydlidar_tcp_node-1] [INFO] [1748386250.599709542] [ydlidar_node]: /scan话题平均发布速率: 4.64 Hz
[cartographer_node-3] [WARN] [1748386251.898125843] [cartographer logger]: W0527 22:50:51.000000 63 range_data_collator.cc:82] Dropped 76 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386253.961684211] [ydlidar_node]: /scan话题平均发布速率: 3.94 Hz
[rviz2-5] [INFO] [1748386254.399089171] [rviz2]: Trying to create a map of size 110 x 125 using 1 swatches
[ydlidar_tcp_node-1] [INFO] [1748386257.114737961] [ydlidar_node]: /scan话题平均发布速率: 4.07 Hz
[ydlidar_tcp_node-1] [INFO] [1748386260.221876099] [ydlidar_node]: /scan话题平均发布速率: 4.53 Hz
[cartographer_node-3] [INFO] [1748386260.702348070] [cartographer logger]: I0527 22:51:00.000000 63 collated_trajectory_builder.cc:81] scan rate: 4.31 Hz 2.32e-01 s +/- 6.15e-02 s (pulsed at 100.03% real time)
[ydlidar_tcp_node-1] [INFO] [1748386263.425381731] [ydlidar_node]: /scan话题平均发布速率: 4.36 Hz
[ydlidar_tcp_node-1] [INFO] [1748386266.623247525] [ydlidar_node]: /scan话题平均发布速率: 4.08 Hz
[ydlidar_tcp_node-1] [INFO] [1748386269.763052318] [ydlidar_node]: /scan话题平均发布速率: 4.46 Hz
[ydlidar_tcp_node-1] [INFO] [1748386272.900839798] [ydlidar_node]: /scan话题平均发布速率: 3.80 Hz
[cartographer_node-3] [INFO] [1748386275.789580498] [cartographer logger]: I0527 22:51:15.000000 63 collated_trajectory_builder.cc:81] scan rate: 4.18 Hz 2.39e-01 s +/- 5.21e-02 s (pulsed at 99.85% real time)
[ydlidar_tcp_node-1] [INFO] [1748386276.073274723] [ydlidar_node]: /scan话题平均发布速率: 4.11 Hz
[cartographer_node-3] [WARN] [1748386277.321291933] [cartographer logger]: W0527 22:51:17.000000 63 range_data_collator.cc:82] Dropped 67 earlier points.
[cartographer_node-3] [WARN] [1748386277.411133221] [cartographer logger]: W0527 22:51:17.000000 63 range_data_collator.cc:82] Dropped 100 earlier points.
[cartographer_node-3] [WARN] [1748386277.528436658] [cartographer logger]: W0527 22:51:17.000000 63 range_data_collator.cc:82] Dropped 26 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386279.394063985] [ydlidar_node]: /scan话题平均发布速率: 4.87 Hz
[cartographer_node-3] [WARN] [1748386280.471066154] [cartographer logger]: W0527 22:51:20.000000 63 range_data_collator.cc:82] Dropped 38 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386282.435072138] [ydlidar_node]: /scan话题平均发布速率: 4.53 Hz
[ydlidar_tcp_node-1] [INFO] [1748386285.671362432] [ydlidar_node]: /scan话题平均发布速率: 4.33 Hz
[ydlidar_tcp_node-1] [INFO] [1748386288.979496224] [ydlidar_node]: /scan话题平均发布速率: 3.66 Hz
[cartographer_node-3] [WARN] [1748386290.136264867] [cartographer logger]: W0527 22:51:30.000000 63 range_data_collator.cc:82] Dropped 25 earlier points.
[rviz2-5] [INFO] [1748386290.929949782] [rviz2]: Trying to create a map of size 110 x 134 using 1 swatches
[cartographer_node-3] [INFO] [1748386290.958328155] [cartographer logger]: I0527 22:51:30.000000 63 collated_trajectory_builder.cc:81] scan rate: 4.30 Hz 2.33e-01 s +/- 9.77e-02 s (pulsed at 99.87% real time)
[ydlidar_tcp_node-1] [INFO] [1748386291.961803424] [ydlidar_node]: /scan话题平均发布速率: 4.32 Hz
[cartographer_node-3] [WARN] [1748386292.408242699] [cartographer logger]: W0527 22:51:32.000000 63 range_data_collator.cc:82] Dropped 34 earlier points.
[cartographer_node-3] [WARN] [1748386292.897250287] [cartographer logger]: W0527 22:51:32.000000 63 range_data_collator.cc:82] Dropped 102 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386295.451737627] [ydlidar_node]: /scan话题平均发布速率: 4.96 Hz
[cartographer_node-3] [WARN] [1748386296.202855554] [cartographer logger]: W0527 22:51:36.000000 63 range_data_collator.cc:82] Dropped 149 earlier points.
[cartographer_node-3] [WARN] [1748386296.269556392] [cartographer logger]: W0527 22:51:36.000000 63 range_data_collator.cc:82] Dropped 199 earlier points.
[cartographer_node-3] [WARN] [1748386296.332727572] [cartographer logger]: W0527 22:51:36.000000 63 range_data_collator.cc:82] Dropped 175 earlier points.
[cartographer_node-3] [WARN] [1748386296.453230698] [cartographer logger]: W0527 22:51:36.000000 63 range_data_collator.cc:82] Dropped 83 earlier points.
[cartographer_node-3] [WARN] [1748386296.663253208] [cartographer logger]: W0527 22:51:36.000000 63 range_data_collator.cc:82] Dropped 91 earlier points.
[cartographer_node-3] [WARN] [1748386297.062278430] [cartographer logger]: W0527 22:51:37.000000 63 range_data_collator.cc:82] Dropped 52 earlier points.
[cartographer_node-3] [WARN] [1748386297.458010633] [cartographer logger]: W0527 22:51:37.000000 63 range_data_collator.cc:82] Dropped 38 earlier points.
[cartographer_node-3] [WARN] [1748386297.732166858] [cartographer logger]: W0527 22:51:37.000000 63 range_data_collator.cc:82] Dropped 57 earlier points.
[cartographer_node-3] [WARN] [1748386297.971079541] [cartographer logger]: W0527 22:51:37.000000 63 range_data_collator.cc:82] Dropped 101 earlier points.
[cartographer_node-3] [WARN] [1748386298.201254083] [cartographer logger]: W0527 22:51:38.000000 63 range_data_collator.cc:82] Dropped 125 earlier points.
[cartographer_node-3] [WARN] [1748386298.304743346] [cartographer logger]: W0527 22:51:38.000000 63 range_data_collator.cc:82] Dropped 73 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386298.481183657] [ydlidar_node]: /scan话题平均发布速率: 7.43 Hz
[cartographer_node-3] [WARN] [1748386298.672461753] [cartographer logger]: W0527 22:51:38.000000 63 range_data_collator.cc:82] Dropped 139 earlier points.
[cartographer_node-3] [WARN] [1748386298.907149797] [cartographer logger]: W0527 22:51:38.000000 63 range_data_collator.cc:82] Dropped 44 earlier points.
[cartographer_node-3] [WARN] [1748386299.006671824] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 92 earlier points.
[cartographer_node-3] [WARN] [1748386299.100826877] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 83 earlier points.
[cartographer_node-3] [WARN] [1748386299.198330827] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 85 earlier points.
[cartographer_node-3] [WARN] [1748386299.299248932] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 70 earlier points.
[cartographer_node-3] [WARN] [1748386299.405309934] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 85 earlier points.
[cartographer_node-3] [WARN] [1748386299.514653492] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 31 earlier points.
[cartographer_node-3] [WARN] [1748386299.642199906] [cartographer logger]: W0527 22:51:39.000000 63 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1748386300.087713355] [cartographer logger]: W0527 22:51:40.000000 63 range_data_collator.cc:82] Dropped 6 earlier points.
[cartographer_node-3] [WARN] [1748386300.333157347] [cartographer logger]: W0527 22:51:40.000000 63 range_data_collator.cc:82] Dropped 33 earlier points.
[cartographer_node-3] [WARN] [1748386301.026097163] [cartographer logger]: W0527 22:51:41.000000 63 range_data_collator.cc:82] Dropped 60 earlier points.
[cartographer_node-3] [WARN] [1748386301.155192873] [cartographer logger]: W0527 22:51:41.000000 63 range_data_collator.cc:82] Dropped 1 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386301.486248429] [ydlidar_node]: /scan话题平均发布速率: 7.64 Hz
[cartographer_node-3] [INFO] [1748386301.578815240] [cartographer logger]: I0527 22:51:41.000000 112 pose_graph_2d.cc:538] Remaining work items in queue: 0
[cartographer_node-3] [INFO] [1748386301.669912568] [cartographer logger]: I0527 22:51:41.000000 112 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1748386301.803322267] [cartographer logger]: I0527 22:51:41.000000 112 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
[rviz2-5] [INFO] [1748386301.956109460] [rviz2]: Trying to create a map of size 110 x 135 using 1 swatches
[cartographer_node-3] [WARN] [1748386302.361234014] [cartographer logger]: W0527 22:51:42.000000 112 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 1. Bounding to maximum number available.
[cartographer_node-3] [WARN] [1748386302.393638629] [cartographer logger]: W0527 22:51:42.000000 63 range_data_collator.cc:82] Dropped 11 earlier points.
[cartographer_node-3] [WARN] [1748386302.634814276] [cartographer logger]: W0527 22:51:42.000000 63 range_data_collator.cc:82] Dropped 20 earlier points.
[cartographer_node-3] [WARN] [1748386304.379397828] [cartographer logger]: W0527 22:51:44.000000 63 range_data_collator.cc:82] Dropped 83 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386304.563134092] [ydlidar_node]: /scan话题平均发布速率: 6.49 Hz
[cartographer_node-3] [WARN] [1748386304.871897758] [cartographer logger]: W0527 22:51:44.000000 63 range_data_collator.cc:82] Dropped 2 earlier points.
[cartographer_node-3] [WARN] [1748386305.101198699] [cartographer logger]: W0527 22:51:45.000000 63 range_data_collator.cc:82] Dropped 93 earlier points.
[cartographer_node-3] [WARN] [1748386305.845177291] [cartographer logger]: W0527 22:51:45.000000 63 range_data_collator.cc:82] Dropped 108 earlier points.
[cartographer_node-3] [INFO] [1748386305.979379279] [cartographer logger]: I0527 22:51:45.000000 63 collated_trajectory_builder.cc:81] scan rate: 6.54 Hz 1.53e-01 s +/- 6.06e-02 s (pulsed at 99.89% real time)
[cartographer_node-3] [WARN] [1748386305.989169170] [cartographer logger]: W0527 22:51:45.000000 63 range_data_collator.cc:82] Dropped 45 earlier points.
[cartographer_node-3] [WARN] [1748386306.950180421] [cartographer logger]: W0527 22:51:46.000000 63 range_data_collator.cc:82] Dropped 21 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386307.600935709] [ydlidar_node]: /scan话题平均发布速率: 6.59 Hz
[cartographer_node-3] [WARN] [1748386308.232610381] [cartographer logger]: W0527 22:51:48.000000 63 range_data_collator.cc:82] Dropped 129 earlier points.
[cartographer_node-3] [WARN] [1748386308.347894198] [cartographer logger]: W0527 22:51:48.000000 63 range_data_collator.cc:82] Dropped 50 earlier points.
[cartographer_node-3] [WARN] [1748386308.863779240] [cartographer logger]: W0527 22:51:48.000000 63 range_data_collator.cc:82] Dropped 225 earlier points.
[cartographer_node-3] [WARN] [1748386308.935215449] [cartographer logger]: W0527 22:51:48.000000 63 range_data_collator.cc:82] Dropped 149 earlier points.
[cartographer_node-3] [WARN] [1748386309.170824563] [cartographer logger]: W0527 22:51:49.000000 63 range_data_collator.cc:82] Dropped 84 earlier points.
[cartographer_node-3] [WARN] [1748386309.415665134] [cartographer logger]: W0527 22:51:49.000000 63 range_data_collator.cc:82] Dropped 42 earlier points.
[cartographer_node-3] [WARN] [1748386310.057521088] [cartographer logger]: W0527 22:51:50.000000 63 range_data_collator.cc:82] Dropped 9 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386310.660282779] [ydlidar_node]: /scan话题平均发布速率: 7.19 Hz
[cartographer_node-3] [WARN] [1748386311.511286213] [cartographer logger]: W0527 22:51:51.000000 63 range_data_collator.cc:82] Dropped 4 earlier points.
[cartographer_node-3] [WARN] [1748386312.155091369] [cartographer logger]: W0527 22:51:52.000000 63 range_data_collator.cc:82] Dropped 73 earlier points.
[cartographer_node-3] [WARN] [1748386312.425379024] [cartographer logger]: W0527 22:51:52.000000 63 range_data_collator.cc:82] Dropped 9 earlier points.
[ydlidar_tcp_node-1] [INFO] [1748386313.757954368] [ydlidar_node]: /scan话题平均发布速率: 5.81 Hz
[cartographer_node-3] [WARN] [1748386314.142317461] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 226 earlier points.
[cartographer_node-3] [WARN] [1748386314.225940556] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 124 earlier points.
[cartographer_node-3] [WARN] [1748386314.293968451] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 188 earlier points.
[cartographer_node-3] [WARN] [1748386314.375690432] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 144 earlier points.
[cartographer_node-3] [WARN] [1748386314.560007968] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 166 earlier points.
[cartographer_node-3] [WARN] [1748386314.642185331] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 144 earlier points.
[cartographer_node-3] [WARN] [1748386314.725917452] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 125 earlier points.
[cartographer_node-3] [WARN] [1748386314.807960306] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 115 earlier points.
[cartographer_node-3] [WARN] [1748386314.899011986] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 89 earlier points.
[cartographer_node-3] [WARN] [1748386314.959381789] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 202 earlier points.
[rviz2-5] [ERROR] [1748386314.986566515] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386314.924923 but the latest data is at time 1748386314.924923, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1748386315.080736354] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 46 earlier points.
[cartographer_node-3] [WARN] [1748386315.200919780] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 32 earlier points.
[cartographer_node-3] [WARN] [1748386315.282948497] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 87 earlier points.
[cartographer_node-3] [WARN] [1748386315.377415135] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 125 earlier points.
[cartographer_node-3] [INFO] [1748386315.431372257] [cartographer logger]: I0527 22:51:55.000000 63 motion_filter.cc:42] Motion filter reduced the number of nodes to 9.2%.
[cartographer_node-3] [WARN] [1748386315.621763678] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 67 earlier points.
[cartographer_node-3] [WARN] [1748386315.910384276] [cartographer logger]: W0527 22:51:55.000000 63 range_data_collator.cc:82] Dropped 179 earlier points.
[cartographer_node-3] [WARN] [1748386316.329432577] [cartographer logger]: W0527 22:51:56.000000 63 sensor_bridge.cpp:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 638839831165304134 is not before current subdivision time 638839831164049085
[rviz2-5] [ERROR] [1748386316.342532513] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386316.530413 but the latest data is at time 1748386316.530413, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1748386316.532872021] [cartographer logger]: W0527 22:51:56.000000 63 range_data_collator.cc:82] Dropped 64 earlier points.
[cartographer_node-3] [WARN] [1748386316.635931083] [cartographer logger]: W0527 22:51:56.000000 63 sensor_bridge.cpp:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 638839831167184014 is not before current subdivision time 638839831167168133
[rviz2-5] [INFO] [1748386316.870429874] [rviz2]: Trying to create a map of size 165 x 145 using 1 swatches
[ydlidar_tcp_node-1] [INFO] [1748386316.990381858] [ydlidar_node]: /scan话题平均发布速率: 8.03 Hz
[rviz2-5] [ERROR] [1748386317.112237991] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386317.162199 but the latest data is at time 1748386317.162199, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1748386317.112762653] [cartographer logger]: W0527 22:51:57.000000 63 range_data_collator.cc:82] Dropped 185 earlier points.
[cartographer_node-3] [WARN] [1748386317.568308742] [cartographer logger]: W0527 22:51:57.000000 63 range_data_collator.cc:82] Dropped 167 earlier points.
[rviz2-5] [INFO] [1748386317.970266862] [rviz2]: Trying to create a map of size 165 x 150 using 1 swatches
[cartographer_node-3] [WARN] [1748386318.131391876] [cartographer logger]: W0527 22:51:58.000000 63 range_data_collator.cc:82] Dropped 141 earlier points.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_node-3] [INFO] [1748386318.542855501] [rclcpp]: signal_handler(signum=2)
[rviz2-5] [INFO] [1748386318.555767231] [rclcpp]: signal_handler(signum=2)
[rviz2-5] [ERROR] [1748386318.622548205] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386318.627380 but the latest data is at time 1748386318.627380, when looking up transform from frame [laser_frame] to frame [map]
[static_transform_publisher-2] [INFO] [1748386318.541516715] [rclcpp]: signal_handler(signum=2)
[ydlidar_tcp_node-1] Traceback (most recent call last):
[ydlidar_tcp_node-1] File "/workspace/install/ydlidar/lib/ydlidar/ydlidar_tcp_node", line 33, in <module>
[ydlidar_tcp_node-1] sys.exit(load_entry_point('ydlidar==0.0.0', 'console_scripts', 'ydlidar_tcp_node')())
[ydlidar_tcp_node-1] File "/workspace/install/ydlidar/lib/python3.10/site-packages/ydlidar/ydlidar_tcp_node.py", line 322, in main
^C[ERROR] [static_transform_publisher-2]: process has died [pid 61, exit code -2, cmd '/opt/ros/humble/lib/tf2_ros/static_transform_publisher 0.0 0.0 0.0 0 0 0 base_link laser_frame --ros-args -r __node:=static_tf_pub_laser'].
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_occupancy_grid_node-4] [INFO] [1748386318.540069465] [rclcpp]: signal_handler(signum=2)
[cartographer_occupancy_grid_node-4] [INFO] [1748386318.759027676] [rclcpp]: signal_handler(signum=2)
[ERROR] [ydlidar_tcp_node-1]: process has died [pid 59, exit code -2, cmd '/workspace/install/ydlidar/lib/ydlidar/ydlidar_tcp_node --ros-args'].
[cartographer_node-3] [INFO] [1748386318.758496873] [rclcpp]: signal_handler(signum=2)
[rviz2-5] [INFO] [1748386318.759618281] [rclcpp]: signal_handler(signum=2)
[rviz2-5] [INFO] [1748386319.002526367] [rclcpp]: signal_handler(signum=2)
[cartographer_node-3] [INFO] [1748386319.004224038] [rclcpp]: signal_handler(signum=2)
[ERROR] [cartographer_occupancy_grid_node-4]: process has died [pid 65, exit code -2, cmd '/opt/ros/humble/lib/cartographer_ros/cartographer_occupancy_grid_node -resolution 0.05 -publish_period_sec 1.0 --ros-args -r __node:=cartographer_occupancy_grid_node --params-file /tmp/launch_params_5jz7bk5r'].
[ydlidar_tcp_node-1] Traceback (most recent call last):
File "/workspace/install/ydlidar/lib/ydlidar/ydlidar_tcp_node", line 33, in <module>
sys.exit(load_entry_point('ydlidar==0.0.0', 'console_scripts', 'ydlidar_tcp_node')())
File "/workspace/install/ydlidar/lib/python3.10/site-packages/ydlidar/ydlidar_tcp_node.py", line 322, in main
rclpy.spin(node)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 222, in spin
executor.spin_once()
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 710, in spin_once
handler()
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in call
self._handler.send(None)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 418, in handler
await call_coroutine(entity, arg)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 332, in _execute_timer
await await_or_execute(tmr.callback)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
return callback(*args)
File "/workspace/install/ydlidar/lib/python3.10/site-packages/ydlidar/ydlidar_tcp_node.py", line 198, in process_serial
data = self.conn.recv(128)
KeyboardInterrupt

[cartographer_node-3] [INFO] [1748386319.785136281] [cartographer logger]: I0527 22:51:59.000000 63 node.cpp:569] Shutdown the subscriber of [scan]
[cartographer_node-3] [INFO] [1748386319.789104549] [cartographer logger]: I0527 22:51:59.000000 63 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'...
[cartographer_node-3] [INFO] [1748386319.813298255] [cartographer logger]: I0527 22:51:59.000000 110 pose_graph_2d.cc:538] Remaining work items in queue: 0
[cartographer_node-3] [INFO] [1748386319.815433745] [cartographer logger]: I0527 22:51:59.000000 110 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1748386319.815485192] [cartographer logger]: I0527 22:51:59.000000 110 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
[cartographer_node-3] [INFO] [1748386319.818841736] [cartographer logger]: I0527 22:51:59.000000 63 map_builder_bridge.cpp:161] Running final trajectory optimization...
[cartographer_node-3] [WARN] [1748386319.844437431] [cartographer logger]: W0527 22:51:59.000000 110 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 1. Bounding to maximum number available.
[cartographer_node-3] [INFO] [1748386319.867777206] [cartographer logger]: I0527 22:51:59.000000 110 pose_graph_2d.cc:538] Remaining work items in queue: 1
[cartographer_node-3] [INFO] [1748386319.880679975] [cartographer logger]: I0527 22:51:59.000000 112 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1748386319.890536297] [cartographer logger]: I0527 22:51:59.000000 112 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
[cartographer_node-3] [WARN] [1748386319.891651290] [cartographer logger]: W0527 22:51:59.000000 112 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 1. Bounding to maximum number available.
[cartographer_node-3] [INFO] [1748386319.925484778] [cartographer logger]: I0527 22:51:59.000000 113 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1748386319.941271805] [cartographer logger]: I0527 22:51:59.000000 113 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
Optimizing: Done.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_node-3] [INFO] [1748386320.212669205] [rclcpp]: signal_handler(signum=2)
[ERROR] [rviz2-5]: process has died [pid 67, exit code -2, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /workspace/launch/config/map.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_n115xcz7'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_node-3] [INFO] [1748386320.443043298] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_node-3] [INFO] [1748386320.657427861] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[cartographer_node-3] [INFO] [1748386322.024210670] [rclcpp]: signal_handler(signum=2)
[cartographer_node-3] [INFO] [1748386323.121310943] [cartographer logger]: I0527 22:52:03.000000 111 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1748386323.124938260] [cartographer logger]: I0527 22:52:03.000000 111 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
Optimizing: Done.

83454211

@83454211 在建图时，代表小车（或者雷达）位置的坐标轴突然飘走中说：

[cartographer_node-3] [WARN] [1748386314.959381789] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 202 earlier points.
[rviz2-5] [ERROR] [1748386314.986566515] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386314.924923 but the latest data is at time 1748386314.924923, when looking up transform from frame [laser_frame] to frame [map]

[cartographer_node-3] [WARN] [1748386314.959381789] [cartographer logger]: W0527 22:51:54.000000 63 range_data_collator.cc:82] Dropped 202 earlier points.
[rviz2-5] [ERROR] [1748386314.986566515] [rviz2]: Lookup would require extrapolation into the future. Requested time 1748386314.924923 but the latest data is at time 1748386314.924923, when looking up transform from frame [laser_frame] to frame [map]