Cartographer Failed to find match for field 'intensity'.

Gene

自己系统是 ubuntu18.04 [amd64:bionic]，ROS 版本是 melodic。安装cartographer完后，。分别启动 lslidar + imu 节点和caro节点出现 Failed 信息和截图如下:

Failed to find match for field 'intensity'.
[ WARN] [1660093530.789678768]: W0810 09:05:30.000000  4986 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1660093502.640984000 but the earliest data is at time 1660093520.794097900, when looking up transform from frame [lslidar_link] to frame [imu_link]
[ WARN] [1660093530.789851594]: W0810 09:05:30.000000  4986 ordered_multi_queue.cc:155] Queue waiting for data: (0, scan)
[ WARN] [1660093530.991417871]: W0810 09:05:30.000000  4986 tf_bridge.cc:52] Lookup would require extrapolation into the future.  Requested time 1660093602.690678900 but the latest data is at time 1660093530.894069910, when looking up transform from frame [lslidar_link] to frame [imu_link]

roslaunch 运行的命令如下：

roslaunch lslidar_c32_decoder 00_start_ls_lidar_imu.launch
roslaunch cartographer_ros 00_lslidar_imu.launch

查看 lslidar 发布的数据信息和Rviz显示，个人认为lslidar有 intensity：

header:
  seq: 5347
  stamp:
    secs: 1660089447
    nsecs: 807343000
  frame_id: "lslidar_link"
height: 32
width: 2244
fields:
  -
    name: "x"
    offset: 0
    datatype: 7
    count: 1
  -
    name: "y"
    offset: 4
    datatype: 7
    count: 1
  -
    name: "z"
    offset: 8
    datatype: 7
    count: 1
  -
    name: "intensity"
    offset: 16
    datatype: 2
    count: 1
  -
 name: "ring"
    offset: 17
    datatype: 2
    count: 1
  -
    name: "timestamp"
    offset: 24
    datatype: 8
    count: 1
is_bigendian: False
point_step: 32
row_step: 71808
......
data: [252, 0, 121, ... ,0, 0, 0]
is_dense: False

还请大佬指点哪里没有注意到设置，哪里出现的问题，非常感谢！

PS: carto 自定义的两个launch 文件如下:

00_lslidar_imu.launch:

<launch>
  <param name="/use_sim_time" value="false" />

  <include file="$(find cartographer_ros)/launch/01_backpack_3d.launch" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/01_xcmg_carto.rviz" />
</launch>

01_backpack_3d.launch:

<launch>
  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/00_backpack_3d.urdf" />

  <node name="joint_state_publisher" pkg="joint_state_publisher"   type="joint_state_publisher" /> 
  <node name="robot_state_publisher" pkg="robot_state_publisher"   type="robot_state_publisher" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename 00_laser_imu_3d.lua"
      output="screen">
    <remap from="points2" to="/lslidar_point_cloud" />
    <remap from="imu" to="handsfree/imu" />
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"  type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>

</launch>

小鱼

@Gene 还没试过多线雷达建图,WARN那个我遇到过,但依然可以建图,所以错误估计在那个Failed to find match for field 上了,我能想到的是先跑一下数据集,对比下数据集数据和你的数据区别.