只用激光雷达建图

Lorry

最近搞了一个激光雷达，想尝试一下只用激光雷达建图，使用fishbot的foxy版本，参考Cartographer手持雷达SLAM建图配置指南修改了fishbot_laser_2d.lua配置文件。主要修改了

  tracking_frame = "laser_link",
  published_frame = "laser_link",

其他内容并没有改变。运行cartographer_pure_laser.launch.py，出现以下错误

[cartographer_node-1] F1124 16:19:54.841533 47738 lua_parameter_dictionary.cc:410] Check failed: 1 == reference_counts_.count(key) (1 vs. 0) Key 'use_pose_extrapolator' was used the wrong number of times.
[cartographer_node-1] [FATAL] [1669277994.841823999] [cartographer_ros]: F1124 16:19:54.000000 47738 lua_parameter_dictionary.cc:410] Check failed: 1 == reference_counts_.count(key) (1 vs. 0) Key 'use_pose_extrapolator' was used the wrong number of times.
[rviz2-3] [INFO] [1669277995.278164232] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1669277995.278315296] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1669277995.317479061] [rviz2]: Stereo is NOT SUPPORTED
[cartographer_node-1] *** Check failure stack trace: ***
[cartographer_node-1]     @     0x7f94f09811c3  google::LogMessage::Fail()
[cartographer_node-1]     @     0x7f94f098625b  google::LogMessage::SendToLog()
[cartographer_node-1]     @     0x7f94f0980ebf  google::LogMessage::Flush()
[occupancy_grid_node-2] [WARN] [1669277995.846680169] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[cartographer_node-1]     @     0x7f94f09816ef  google::LogMessageFatal::~LogMessageFatal()
[cartographer_node-1]     @     0x557f8ac7f354  cartographer::common::LuaParameterDictionary::CheckAllKeysWereUsedExactlyOnceAndReset()
[cartographer_node-1]     @     0x557f8ac7f5e5  cartographer::common::LuaParameterDictionary::~LuaParameterDictionary()
[cartographer_node-1]     @     0x557f8ac62bff  cartographer_ros::LoadOptions()
[cartographer_node-1]     @     0x557f8abd8244  main
[cartographer_node-1]     @     0x7f94efedd083  __libc_start_main
[cartographer_node-1]     @     0x557f8abdab6e  _start
[ERROR] [cartographer_node-1]: process has died [pid 47738, exit code -6, cmd '/home/lorry/Code/Ros2/workspace/LearningProject/fishbot/install/cartographer_ros/lib/cartographer_ros/cartographer_node -configuration_directory /home/lorry/Code/Ros2/workspace/LearningProject/fishbot/install/fishbot_cartographer/share/fishbot_cartographer/config -configuration_basename revo_lds.lua --ros-args -r __node:=cartographer_node --params-file /tmp/launch_params_fze1abjy'].
[occupancy_grid_node-2] [WARN] [1669277996.846672111] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [1669277997.846730475] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [1669277998.846736523] [occupancy_grid_node]: submap_slices and last_frame_id is empty

rviz界面什么也没显示
Screenshot from 2022-11-24 16-21-06.png

小鱼

@Lorry 在只用激光雷达建图中说：

rence_counts_.count(key) (1 vs. 0) Key 'use_pose_extrapolator' was used the wrong number of times.

看起来是cartographer参数配置错误,仔细检查下

Lorry

@小鱼我看这个帖子，上面还能看到map和base_laser的tf关系。但是这个tf关系是怎么发布出去的？我参考Cartographer手持雷达SLAM建图配置指南，其中的launch文件并不会发布tf的信息

小鱼

@Lorry map->laser的信息是carto发布的,carto根据雷达信息计算出来雷达在地图中的姿态,所以前置是不需要发布这个关系的

Lorry

@小鱼我还有个疑惑，配置文件中指定了雷达的frameID，但是并没有指定雷达的话题名称，这样的话建图节点怎么去使用雷达数据？

小鱼

@Lorry 订阅的默认话题'scan'具体可以见cartograpgher_ros代码cartographer_ros/include/cartographer_ros/node_constants.h文件26行,如果想改可以用ros2的话题重映射即可

/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_CONSTANTS_H
#define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_CONSTANTS_H

#include <string>
#include <vector>

namespace cartographer_ros {

// Default topic names; expected to be remapped as needed.
constexpr char kLaserScanTopic[] = "scan";
constexpr char kMultiEchoLaserScanTopic[] = "echoes";
constexpr char kPointCloud2Topic[] = "points2";
constexpr char kImuTopic[] = "imu";
constexpr char kOdometryTopic[] = "odom";
constexpr char kNavSatFixTopic[] = "fix";
constexpr char kLandmarkTopic[] = "landmark";
constexpr char kFinishTrajectoryServiceName[] = "finish_trajectory";
constexpr char kOccupancyGridTopic[] = "map";
constexpr char kScanMatchedPointCloudTopic[] = "scan_matched_points2";
constexpr char kSubmapListTopic[] = "submap_list";
constexpr char kTrackedPoseTopic[] = "tracked_pose";
constexpr char kSubmapQueryServiceName[] = "submap_query";
constexpr char kTrajectoryQueryServiceName[] = "trajectory_query";
constexpr char kStartTrajectoryServiceName[] = "start_trajectory";
constexpr char kWriteStateServiceName[] = "write_state";
constexpr char kGetTrajectoryStatesServiceName[] = "get_trajectory_states";
constexpr char kReadMetricsServiceName[] = "read_metrics";
constexpr char kTrajectoryNodeListTopic[] = "trajectory_node_list";
constexpr char kLandmarkPosesListTopic[] = "landmark_poses_list";
constexpr char kConstraintListTopic[] = "constraint_list";
constexpr double kConstraintPublishPeriodSec = 0.5;
constexpr double kTopicMismatchCheckDelaySec = 3.0;

constexpr int kInfiniteSubscriberQueueSize = 0;
constexpr int kLatestOnlyPublisherQueueSize = 1;

// For multiple topics adds numbers to the topic name and returns the list.
std::vector<std::string> ComputeRepeatedTopicNames(const std::string& topic,
                                                   int num_topics);

}  // namespace cartographer_ros

#endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_CONSTANTS_H

Lorry

@小鱼对nav2太不了解了。
现在定位到的问题是carto并没有发布map->laser_frame的tf变换关系。具体报错是：

[occupancy_grid_node-3] [WARN] [1669281762.444819311] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[rviz2-4] [INFO] [1669281762.513897803] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1669281762.011 for reason 'Unknown'

我再查查解决办法，不行的话就先停下来把nav2看完

小鱼

@Lorry 注意下use_sim_time,仿真时间和实际时间的区别

Lorry

@小鱼仿真时间设置的是false，应该不会是它引起的