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cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.
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cartographer build map error #1093

Closed zchao9456 closed 4 years ago

zchao9456 commented 6 years ago

process[robot_state_publisher-1]: started with pid [11071] process[cartographer_node-2]: started with pid [11072] process[cartographer_occupancy_grid_node-3]: started with pid [11078] process[base_to_laser_broadcaster-4]: started with pid [11086] [ INFO] [1541676994.005781399]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/zc_build_map.lua' for 'zc_build_map.lua'. [ INFO] [1541676994.006124286]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [ INFO] [1541676994.006183860]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [ INFO] [1541676994.006258424]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [ INFO] [1541676994.006300170]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [ INFO] [1541676994.006450226]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [ INFO] [1541676994.006491885]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [ INFO] [1541676994.006558495]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ INFO] [1541676994.006597822]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ INFO] [1541676994.006727725]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [ INFO] [1541676994.006776982]: I1108 19:36:34.000000 11072 configuration_file_resolver.cc:41] Found '/home/zc/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [ INFO] [1541676994.020484346]: I1108 19:36:34.000000 11072 map_builder_bridge.cc:134] Added trajectory with ID '0'. [ INFO] [1541676994.212808286]: I1108 19:36:34.000000 11072 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '621355968000000000'. [ WARN] [1541676994.213847158]: W1108 19:36:34.000000 11072 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 ms [ INFO] [1541676994.215562453]: I1108 19:36:34.000000 11072 pose_graph_2d.cc:142] Inserted submap (0, 0). [ WARN] [1541676994.253293244]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.293853203]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.334359385]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.374953905]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.415488143]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.456220691]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.496982983]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.557598578]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.578224334]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.618762979]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.659404326]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.703223099]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.747280864]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.791182124]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.835301719]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.879255103]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.923160590]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676994.967305147]: W1108 19:36:34.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676995.011445719]: W1108 19:36:35.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676995.055182978]: W1108 19:36:35.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676995.103419721]: W1108 19:36:35.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676995.103638561]: W1108 19:36:35.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676995.147258961]: W1108 19:36:35.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676995.186315725]: W1108 19:36:35.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676995.227200961]: W1108 19:36:35.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000 [ WARN] [1541676995.271227800]: W1108 19:36:35.000000 11072 sensor_bridge.cc:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 621355968000000000 is not before current subdivision time 621355968000000000

zc_build_map.lua

include "map_builder.lua" include "trajectory_builder.lua"

options = { map_builder = MAP_BUILDER, trajectory_builder = TRAJECTORY_BUILDER, map_frame = "map", tracking_frame = "laser_link", published_frame = "laser_link", odom_frame = "odom", provide_odom_frame = true, publish_frame_projected_to_2d = false, use_pose_extrapolator = true, use_odometry = false, use_nav_sat = false, use_landmarks = false, num_laser_scans = 1, num_multi_echo_laser_scans = 0, num_subdivisions_per_laser_scan = 1, 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.submaps.num_range_data = 35 TRAJECTORY_BUILDER_2D.min_range = 0.3 TRAJECTORY_BUILDER_2D.max_range = 8. TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1. TRAJECTORY_BUILDER_2D.use_imu_data = false TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

POSE_GRAPH.optimization_problem.huber_scale = 1e2 POSE_GRAPH.optimize_every_n_nodes = 35 POSE_GRAPH.constraint_builder.min_score = 0.65 return options

zc_build_map.launch

cartographer build map error, What is the reason? help me,thanks

zchao9456 commented 6 years ago
gaschler commented 6 years ago

Your header timestamps of LaserScan messages are corrupted.

zchao9456 commented 6 years ago

Can you tell me how to do it?I just started learning.thanks

jonra1993 commented 5 years ago

Ensure that scan_time and time_increment in scan topic header are in seconds. I had same problem with YdLiDAR X4 those parameters were in ns at the beginning. image