VigneshS1993
commented
3 years ago These are my .lua and .launch files:
include "map_builder.lua" include "trajectory_builder.lua"
options = { map_builder = MAP_BUILDER, trajectory_builder = TRAJECTORY_BUILDER, map_frame = "map", tracking_frame = "base_link", published_frame = "base_link", odom_frame = "odom", provide_odom_frame = true, publish_frame_projected_to_2d = false, use_pose_extrapolator = true, use_odometry = true, use_nav_sat = false, use_landmarks = false, publish_to_tf = true, num_laser_scans = 1, num_multi_echo_laser_scans = 0, num_subdivisions_per_laser_scan = 100, num_point_clouds = 0, lookup_transform_timeout_sec = 0.2, submap_publish_period_sec = 0.3, pose_publish_period_sec = 5e-3, trajectory_publish_period_sec = 30e-3, rangefinder_sampling_ratio = 1., odometry_sampling_ratio = 1., fixed_frame_pose_sampling_ratio = 1., imu_sampling_ratio = 1., landmarks_sampling_ratio = 1., }
MAP_BUILDER.use_trajectory_builder_2d = true TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10
return options
looks like 
mohamedsayed18
I am working on implementing cartographer in fleet robots. Before this implementation there are some precursors which needs to be performed like computation time of the cartographer and comparing the maps with different other SLAM algorithms. Although I have gone through the cartographer documentation, I am missing something like this information of map generation using a ros bag. Please bear with my inability and I really request someone to guide me in this. Being a newbie I do understand that I need to explore a bit, but would really appreciate some help from the seniors in this case and regard.
The problem I am facing is that I am able to bringup a launch file which spawns rviz and the robot motion with transformations being running and also the laser scan running as the bag file plays, but the mapserver is not able to receive any map during this process.