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MaverickPeter / MR_SLAM

[IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated into the system.
MIT License
266 stars 20 forks source link

No elevation_map output #15

Closed ZhangLiang-Cencen closed 9 months ago

ZhangLiang-Cencen commented 9 months ago

Thakns for your work!

When I run the code in docker, the topic "/robot_1/visual_map": no new messages.

And the screen output in elevation_map part: [ WARN] [1700028527.069606734, 1642748343.491280501]: in map service [ WARN] [1700028527.074154659, 1642748343.491280501]: out map service [ WARN] [1700028527.405144592, 1642748343.826465818]: in map service [ WARN] [1700028527.407398626, 1642748343.826465818]: out map service [ WARN] [1700028527.773029853, 1642748344.194439812]: in map servic [ WARN] [1700028527.780150849, 1642748344.194439812]: out map service

The topic: clock /aligned_cloud /clicked_point /clock /cmd_vel /database_cloud /global_manager/graph /global_manager/merged_cloud /global_manager/merged_map /global_manager/opt /initialpose /loop_info /map_saving /move_base/NavfnROS/plan /move_base/TrajectoryPlannerROS/cost_cloud /move_base/TrajectoryPlannerROS/global_plan /move_base/TrajectoryPlannerROS/local_plan /move_base/TrajectoryPlannerROS/parameter_descriptions /move_base/TrajectoryPlannerROS/parameter_updates /move_base/cancel /move_base/current_goal /move_base/feedback /move_base/global_costmap/costmap /move_base/global_costmap/costmap_updates /move_base/global_costmap/footprint /move_base/global_costmap/inflation_layer/parameter_descriptions /move_base/global_costmap/inflation_layer/parameter_updates /move_base/global_costmap/parameter_descriptions /move_base/global_costmap/parameter_updates /move_base/goal /move_base/local_costmap/costmap /move_base/local_costmap/costmap_updates /move_base/local_costmap/elevation_layer/parameter_descriptions /move_base/local_costmap/elevation_layer/parameter_updates /move_base/local_costmap/footprint /move_base/local_costmap/inflation_layer/parameter_descriptions /move_base/local_costmap/inflation_layer/parameter_updates /move_base/local_costmap/parameter_descriptions /move_base/local_costmap/parameter_updates /move_base/parameter_descriptions /move_base/parameter_updates /move_base/recovery_status /move_base/result /move_base/status /move_base_simple/goal /odom /query_cloud /robot_1/Laser_map /robot_1/Odometry /robot_1/cloud_effected /robot_1/cloud_registered /robot_1/cloud_registered_body /robot_1/dense_mapping /robot_1/disco /robot_1/elevation_map_raw /robot_1/global_octomap /robot_1/global_point /robot_1/history_point /robot_1/image_rect /robot_1/imu /robot_1/keyframe_pc /robot_1/local_octomap /robot_1/map_saving /robot_1/merged_cloud_registered /robot_1/merged_keyframe /robot_1/new_keyframe /robot_1/opt_keyframes /robot_1/opt_map /robot_1/orthomosaic /robot_1/path /robot_1/pointcloud /robot_1/submap /robot_1/visual_map /robot_1/visualpoints /robot_1/voxel_grid/output /robot_2/submap /robot_3/submap /rosout /rosout_agg /tf /tf_static

ZhangLiang-Cencen commented 9 months ago

Solving the problem by Changing lidar's topic in robot_1.launch.

<arg name="lidar_topic"  default="/$(arg robot_name)/pointcloud"/>
  <!-- <arg name="lidar_topic"  default="/$(arg robot_name)/voxel_grid/output"/> -->