@小鱼 感谢小鱼儿的帮助。我将 gmapping的 Durability 修改成了 transient_local ，map_saver保持一致了，也能进行保存工作。困扰了快一个星期了，感谢帮助。

@1157354382 顺便在问一下，怎么进行多点导航呢。是否有 rviz2的插件

版本为 ubuntu20 galactic 旭日X3派
使用 cartographer建图时，雷达抖动严重。

就是刚开始还不抖动，但是旋转一下，就开始抖动，小车停下来也在抖动。

@2631231868 wa 你好 我就是使用了odom 来建图，就是显示酱紫哎，请问大佬是 odom哪里的原因呢

各位大佬好
版本为ubuntu20 galactic
使用robot_localization_ekf 融合 imu和 odom。
融合后 查看 odom_combined和 base_footprint 的转化关系，发现：
旋转小车时，odom_combined和 base_footprint之间有明显的变化，且连续。测试
gmappping，也能正常建图；但是在 前后移动小车，他们之间并无转换关系，建图时 rviz上小车也不动。如图所示：
下面是我的 odom和 imu 的融合部分：

odom0_config: [
                       False, False, false,
                       false, false, true,
                       true,  True, false,
                       false, false, True,
                       false, false, false]

imu0_config: [        false, false, false,
                      false, false, True,
                      false, false, false,
                      false, false, True,
                      true,  false, false]

@小鱼 感谢小鱼儿的帮助。我将 gmapping的 Durability 修改成了 transient_local ，map_saver保持一致了，也能进行保存工作。困扰了快一个星期了，感谢帮助。

我似乎是找到了原因，可能是Qos没有相匹配，导致信息不能相互传输。但是具体修改哪个东西的qos我不是很懂，因为map不是gmapping自己发布的嘛，那他这个要和什么相匹配呢。
这是rviz上的日志：

ros2 run nav2_map_server map_saver_cli 
[INFO] [1677118775.546330774] [map_saver]: 
	map_saver lifecycle node launched. 
	Waiting on external lifecycle transitions to activate
	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1677118775.546418351] [map_saver]: Creating
[INFO] [1677118775.546718313] [map_saver]: Saving map from 'map' topic to '' file
[WARN] [1677118775.546743987] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000
[WARN] [1677118775.546763269] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000
[WARN] [1677118775.547629798] [map_saver]: New publisher discovered on topic '/map', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY
[ERROR] [1677118777.547682744] [map_saver]: Failed to spin map subscription
[INFO] [1677118777.548951015] [map_saver]: Destroying

这是gmapping报错部分：

[slam_gmapping-6] [WARN] [1677118742.381892406] [slam_gmapping]: New subscription discovered on topic '/map', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY

大佬 你们好
版本 20.04 foxy
在使用gmapping建好地图后，使用 map_saver无法正常保存地图，显示结果图下 日志如下

ros2 run nav2_map_server map_saver_cli 
[INFO] [1676945889.284354723] [map_saver]: 
	map_saver lifecycle node launched. 
	Waiting on external lifecycle transitions to activate
	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1676945889.284500481] [map_saver]: Creating
[INFO] [1676945889.284764118] [map_saver]: Saving map from 'map' topic to '' file
[WARN] [1676945889.284791241] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000
[WARN] [1676945889.284822450] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000
[ERROR] [1676945891.288356825] [map_saver]: Failed to save the map: timeout
[INFO] [1676945891.288500232] [map_saver]: Destroying

在移动时地图就能正常保存
另附上我的tf树

@1157354382 另附上我的 bt_navigator

bt_navigator:
  ros__parameters:
    use_sim_time: false
    global_frame: map
    robot_base_frame: base_footprint
    odom_topic: /odom
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    default_bt_xml_filename: "/home/zr/catkin_ws/src/wheeltec_robot_nav/param/navigate_w_replanning_and_recovery.xml"
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node
    - nav2_is_battery_low_condition_bt_node
    - nav2_navigate_to_pose_action_bt_node

@小鱼 非常感谢鱼总的解答。因为我是用的是 bringup 里的文件改写的，注意到官方里是使用 default_bt_xml_filename 来加载默认行为树，但是在 nav2 的文档里是使用 default_nav_to_pose_bt_xml 来加载。我查阅到似乎 default_bt_xml_filename 是 foxy 版本的加载方式。但是当我修改后，本来能正常运行的导航包 反而报错 ，这就很头大。报错内容为：

[bt_navigator-7] [INFO] [1669033140.299276707] [bt_navigator]: Configuring
[bt_navigator-7] 
[bt_navigator-7] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[bt_navigator-7] This error state is being overwritten:
[bt_navigator-7] 
[bt_navigator-7]   'invalid empty action name, at /tmp/binarydeb/ros-foxy-rcl-action-1.1.13/src/rcl_action/names.c:36'
[bt_navigator-7] 
[bt_navigator-7] with this new error message:
[bt_navigator-7] 
[bt_navigator-7]   'failed to get goal service name, at /tmp/binarydeb/ros-foxy-rcl-action-1.1.13/src/rcl_action/action_client.c:215'
[bt_navigator-7] 
[bt_navigator-7] rcutils_reset_error() should be called after error handling to avoid this.
[bt_navigator-7] <<<
[bt_navigator-7] [ERROR] [1669033140.356554832] [bt_navigator_rclcpp_node.rclcpp_action]: Error in destruction of rcl action client handle: action client implementation is invalid, at /tmp/binarydeb/ros-foxy-rcl-action-1.1.13/src/rcl_action/action_client.c:470
[ERROR] [bt_navigator-7]: process has died [pid 6177, exit code -11, cmd '/opt/ros/foxy/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator -r __node:=bt_navigator --params-file /tmp/tmpxsdf_anw -r /tf:=tf -r /tf_static:=tf_static'].

还望鱼总多多指教

@1157354382 ```

• nav2_compute_path_to_pose_action_bt_node
  • nav2_follow_path_action_bt_node
  • nav2_back_up_action_bt_node
  • nav2_spin_action_bt_node
  • nav2_wait_action_bt_node
  • nav2_clear_costmap_service_bt_node
  • nav2_is_stuck_condition_bt_node
  • nav2_goal_reached_condition_bt_node
  • nav2_goal_updated_condition_bt_node
  • nav2_initial_pose_received_condition_bt_node
  • nav2_reinitialize_global_localization_service_bt_node
  • nav2_rate_controller_bt_node
  • nav2_distance_controller_bt_node
  • nav2_speed_controller_bt_node
  • nav2_truncate_path_action_bt_node
  • nav2_goal_updater_node_bt_node
  • nav2_recovery_node_bt_node
  • nav2_pipeline_sequence_bt_node
  • nav2_round_robin_node_bt_node
  • nav2_transform_available_condition_bt_node
  • nav2_time_expired_condition_bt_node
  • nav2_distance_traveled_condition_bt_node

这是我的 plugin_lib_names