cartographer仿真建图中，报错'collect_metrics'重定义导致 cartography_node 节点没有正确启动

[只学一点]

[cartographer_node-1] ERROR: flag 'collect_metrics' was defined more than once (in files '/opt/pro/test/test1_ws/src/cartographer_ros/cartographer_ros/src/offline_node.cpp' and '/opt/pro/test/test1_ws/src/cartographer_ros/cartographer_ros/src/node_main.cpp').

[ERROR] [cartographer_node-1]: process has died [pid 4366, exit code 1, cmd '/opt/pro/test/test1_ws/install/cartographer_ros/lib/cartographer_ros/cartographer_node -configuration_directory /opt/pro/test/test1_ws/install/mybot_cartographer/share/mybot_cartographer/config -configuration_basename mybot_2d.lua --ros-args -r __node:=cartographer_node --params-file /tmp/launch_params_r6yzqmrl']

出现上面报错
​​
只启动了 /cartographer_occupancy_grid_node 节点

[63743995]

@只学一点 我也遇到了，怎么解决呀

[只学一点]

@63743995 已解决，应该是cartographer ros版本问题，用git clone --recursive https://github.com/fishros/fishbot.git -b humble命令拉取小鱼的开源项目，里面顺带的cartographer源码版本就可以。