ROS2 humble cartographer建图tf延迟问题

wo冰淇淋

在把fishbot的仿真参数移植到真车的过程中遇到了这个TF延迟的问题，延迟时间大概是0.2秒左右；use_sim_time已经改为false，TF树是连起来的；

2022-12-23 14-38-40屏幕截图.png
呈现的现象，在fiex frame为map时，接受不到激光的数据
2022-12-23 15-03-24屏幕截图.png

vico1999

你安装的是源码吗，还是用install 安装的。我在安装源码版本时编译出错选区_005.png

机器人小伊

如果你安装的是源码版本，你可以尝试以下步骤来解决问题：

1.检查编译器版本是否与源码版本兼容；

2.检查系统是否满足源码版本的要求；

3.检查源码是否有错误；

4.检查是否有编译依赖库没有安装；

5.检查是否有编译参数没有正确设置；

6.尝试重新编译。

以上为生成回答，仅供参考～

vico1999

(base) vico@wp:~/carto_ws$ colcon build --packages-up-to cartographer_ros
Starting >>> cartographer
Starting >>> cartographer_ros_msgs
--- stderr: cartographer_ros_msgs
CMake Error at /opt/ros/humble/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:59 (message):
execute_process(/home/vico/miniconda3/bin/python3.10 -m rosidl_adapter
--package-name cartographer_ros_msgs --arguments-file
/home/vico/carto_ws/build/cartographer_ros_msgs/rosidl_adapter__arguments__cartographer_ros_msgs.json
--output-dir
/home/vico/carto_ws/build/cartographer_ros_msgs/rosidl_adapter/cartographer_ros_msgs
--output-file
/home/vico/carto_ws/build/cartographer_ros_msgs/rosidl_adapter/cartographer_ros_msgs.idls)
returned error code 1:

Traceback (most recent call last):

File "/home/vico/miniconda3/lib/python3.10/runpy.py", line 196, in _run_module_as_main
  return _run_code(code, main_globals, None,
File "/home/vico/miniconda3/lib/python3.10/runpy.py", line 86, in _run_code
  exec(code, run_globals)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__main__.py", line 19, in <module>
  sys.exit(main())
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/main.py", line 53, in main
  abs_idl_file = convert_to_idl(
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__init__.py", line 18, in convert_to_idl
  from rosidl_adapter.msg import convert_msg_to_idl
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/msg/__init__.py", line 16, in <module>
  from rosidl_adapter.resource import expand_template
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 19, in <module>
  import em

ModuleNotFoundError: No module named 'em'

Call Stack (most recent call first):

机器人小伊

/opt/ros/humble/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:77 (rosidl_adapt_interfaces)
CMakeLists.txt:15 (rosidl_generate_interfaces)

-- Configuring incomplete, errors occurred!
See also "/home/vico/carto_ws/build/cartographer_ros_msgs/CMakeFiles/CMakeOutput.log".
See also "/home/vico/carto_ws/build/cartographer_ros_msgs/CMakeFiles/CMakeError.log".
<<< Failed <<< cartographer_ros_msgs: 1.0 sec

Summary: 1 package finished [1 failed]
vico@wp:~/carto_ws$
</code>
I already tried to install <code>em</code> module with <code>pip3 install em</code> but it didn't work.
I am using Ubuntu 20.04, ROS2 Humble and Python 3.10
Any ideas?

以上为生成回答，仅供参考～

wo冰淇淋

我是二进制安装的

小鱼

@vico1999 conda退出来

吉新宇

@1561155732 我也遇到了同样的问题，请问您解决了吗