asable67
commented
3 years ago After trying many things, I finally solved this by changing the ouster sensor's time synchronization mode from the default internal oscillator to time from ptp1588, as described in the Ouster Software user manual... Not completely sure why this was the solution when most sources suggested it dealt with topic remappings, but Cartographer now works and does real-time and offline SLAM as expected.
Hello,
I am attempting to implement Cartographer with a RealSense camera and an Ouster OS0-64 sensor for a 3D mapping application, but I am struggling with the launch and configuration files. I appear to be encountering an issue with the lidar points somewhere along the way. Below is the output in the terminal after running the launch file
rs_and_os_driver.launch:spike@slam:/media/spike/Cartographer/OusterandROSStuff$ ./launchros_sccartographer.sh ... logging to /home/spike/.ros/log/ceda512e-c3b2-11eb-ad83-0242a1c82dcc/roslaunch-slam-7041.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://slam:41927/ SUMMARY ======== PARAMETERS * /camera/realsense2_camera/accel_fps: 62 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti... * /camera/realsense2_camera/align_depth: False * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de... * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de... * /camera/realsense2_camera/allow_no_texture_points: False * /camera/realsense2_camera/base_frame_id: camera_link * /camera/realsense2_camera/calib_odom_file: * /camera/realsense2_camera/clip_distance: -1.0 * /camera/realsense2_camera/color_fps: 30 * /camera/realsense2_camera/color_frame_id: camera_color_frame * /camera/realsense2_camera/color_height: 480 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti... * /camera/realsense2_camera/color_width: 640 * /camera/realsense2_camera/depth_fps: 30 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame * /camera/realsense2_camera/depth_height: 480 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti... * /camera/realsense2_camera/depth_width: 640 * /camera/realsense2_camera/device_type: t265 * /camera/realsense2_camera/enable_accel: True * /camera/realsense2_camera/enable_color: True * /camera/realsense2_camera/enable_depth: True * /camera/realsense2_camera/enable_fisheye1: True * /camera/realsense2_camera/enable_fisheye2: True * /camera/realsense2_camera/enable_fisheye: True * /camera/realsense2_camera/enable_gyro: True * /camera/realsense2_camera/enable_infra1: True * /camera/realsense2_camera/enable_infra2: True * /camera/realsense2_camera/enable_pointcloud: False * /camera/realsense2_camera/enable_sync: False * /camera/realsense2_camera/filters: * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f... * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o... * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f... * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o... * /camera/realsense2_camera/fisheye_fps: 30 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame * /camera/realsense2_camera/fisheye_height: 800 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op... * /camera/realsense2_camera/fisheye_width: 848 * /camera/realsense2_camera/gyro_fps: 200 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic... * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica... * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt... * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt... * /camera/realsense2_camera/infra_fps: 30 * /camera/realsense2_camera/infra_height: 480 * /camera/realsense2_camera/infra_width: 640 * /camera/realsense2_camera/initial_reset: False * /camera/realsense2_camera/json_file_path: * /camera/realsense2_camera/linear_accel_cov: 0.01 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame * /camera/realsense2_camera/pointcloud_texture_index: 0 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR * /camera/realsense2_camera/pose_frame_id: camera_pose_frame * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic... * /camera/realsense2_camera/publish_odom_tf: True * /camera/realsense2_camera/publish_tf: True * /camera/realsense2_camera/rosbag_filename: * /camera/realsense2_camera/serial_no: * /camera/realsense2_camera/tf_publish_rate: 0.0 * /camera/realsense2_camera/topic_odom_in: camera/odom_in * /camera/realsense2_camera/unite_imu_method: linear_interpolation * /camera/realsense2_camera/usb_port_id: * /camera/tracking_module/enable_mapping: False * /camera/tracking_module/enable_pose_jumping: False * /camera/tracking_module/enable_relocalization: False * /os_cloud_node/tf_prefix: * /os_node/imu_port: 7503 * /os_node/lidar_mode: 1024x10 * /os_node/lidar_port: 7502 * /os_node/metadata: * /os_node/replay: False * /os_node/sensor_hostname: 192.168.3.144 * /os_node/timestamp_mode: * /os_node/udp_dest: 192.168.3.142 * /rosdistro: melodic * /rosversion: 1.14.11 * /use_sim_time: False NODES / cartographer_node (cartographer_ros/cartographer_node) cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node) os_cloud_node (ouster_ros/os_cloud_node) os_node (ouster_ros/os_node) rs_to_os_tf_broadcaster (tf2_ros/static_transform_publisher) /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) ROS_MASTER_URI=http://localhost:11311 process[rs_to_os_tf_broadcaster-1]: started with pid [7058] process[os_node-2]: started with pid [7059] process[os_cloud_node-3]: started with pid [7065] process[camera/realsense2_camera_manager-4]: started with pid [7074] process[camera/realsense2_camera-5]: started with pid [7083] process[cartographer_node-6]: started with pid [7097] process[cartographer_occupancy_grid_node-7]: started with pid [7115] [ INFO] [1622751978.102870799]: Client version: 0.2.0-dev0+2b49e6a-dirty-release [ INFO] [1622751978.112233039]: Connecting to 192.168.3.144; sending data to 192.168.3.142 [ INFO] [1622751978.112363253]: Waiting for sensor to initialize ... [ INFO] [1622751978.156039198]: Initializing nodelet with 8 worker threads. [ INFO] [1622751978.185441597]: I0603 20:26:18.000000 7097 configuration_file_resolver.cc:41] Found '/media/spike/Cartographer/h3dslammapping/src/sensor_ros/ROS/sc_cartographer/configuration_files/single_rs_os.lua' for 'single_rs_os.lua'. [ INFO] [1622751978.191198416]: I0603 20:26:18.000000 7097 configuration_file_resolver.cc:41] Found '/media/spike/Cartographer/h3dslammapping/src/sensor_ros/ROS/sc_cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [ INFO] [1622751978.191419259]: I0603 20:26:18.000000 7097 configuration_file_resolver.cc:41] Found '/media/spike/Cartographer/h3dslammapping/src/sensor_ros/ROS/sc_cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [ INFO] [1622751978.191725290]: I0603 20:26:18.000000 7097 configuration_file_resolver.cc:41] Found '/media/spike/Cartographer/h3dslammapping/src/sensor_ros/ROS/sc_cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [ INFO] [1622751978.191921619]: I0603 20:26:18.000000 7097 configuration_file_resolver.cc:41] Found '/media/spike/Cartographer/h3dslammapping/src/sensor_ros/ROS/sc_cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [ INFO] [1622751978.192384553]: I0603 20:26:18.000000 7097 configuration_file_resolver.cc:41] Found '/media/spike/Cartographer/h3dslammapping/src/sensor_ros/ROS/sc_cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [ INFO] [1622751978.192540497]: I0603 20:26:18.000000 7097 configuration_file_resolver.cc:41] Found '/media/spike/Cartographer/h3dslammapping/src/sensor_ros/ROS/sc_cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [ INFO] [1622751978.192800029]: I0603 20:26:18.000000 7097 configuration_file_resolver.cc:41] Found '/media/spike/Cartographer/h3dslammapping/src/sensor_ros/ROS/sc_cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ INFO] [1622751978.192938660]: I0603 20:26:18.000000 7097 configuration_file_resolver.cc:41] Found '/media/spike/Cartographer/h3dslammapping/src/sensor_ros/ROS/sc_cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ INFO] [1622751978.193343959]: I0603 20:26:18.000000 7097 configuration_file_resolver.cc:41] Found '/media/spike/Cartographer/h3dslammapping/src/sensor_ros/ROS/sc_cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [ INFO] [1622751978.193528448]: I0603 20:26:18.000000 7097 configuration_file_resolver.cc:41] Found '/media/spike/Cartographer/h3dslammapping/src/sensor_ros/ROS/sc_cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [ INFO] [1622751978.223783559]: I0603 20:26:18.000000 7097 map_builder_bridge.cc:136] Added trajectory with ID '0'. [ INFO] [1622751978.366641018]: RealSense ROS v2.2.12 [ INFO] [1622751978.366750943]: Running with LibRealSense v2.41.0 [ INFO] [1622751978.389333463]: [ INFO] [1622751978.401193711]: Device with serial number 15322110061 was found. [ INFO] [1622751978.401279763]: Device with physical ID 2-4-3 was found. [ INFO] [1622751978.401323893]: Device with name Intel RealSense T265 was found. [ INFO] [1622751978.402561296]: Device with port number 2-4 was found. [ INFO] [1622751978.410749272]: No calib_odom_file. No input odometry accepted. [ INFO] [1622751978.410896287]: getParameters... [ INFO] [1622751978.637031298]: setupDevice... [ INFO] [1622751978.637141223]: JSON file is not provided [ INFO] [1622751978.637252652]: ROS Node Namespace: camera [ INFO] [1622751978.637341104]: Device Name: Intel RealSense T265 [ INFO] [1622751978.637389907]: Device Serial No: 15322110061 [ INFO] [1622751978.637428501]: Device physical port: 2-4-3 [ INFO] [1622751978.637533114]: Device FW version: 0.2.0.951 [ INFO] [1622751978.637573820]: Device Product ID: 0x0B37 [ INFO] [1622751978.637614237]: Enable PointCloud: Off [ INFO] [1622751978.637688321]: Align Depth: Off [ INFO] [1622751978.637744804]: Sync Mode: Off [ INFO] [1622751978.637830472]: Device Sensors: [ INFO] [1622751978.637909996]: Tracking Module was found. [ INFO] [1622751978.637964910]: (Depth, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1622751978.638001072]: (Color, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1622751978.638049490]: (Infrared, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1622751978.638083412]: (Infrared, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1622751978.638149815]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1622751978.638236219]: num_filters: 0 [ INFO] [1622751978.638304927]: Setting Dynamic reconfig parameters. [ INFO] [1622751978.670427103]: Done Setting Dynamic reconfig parameters. [ INFO] [1622751978.671297481]: fisheye1 stream is enabled - width: 848, height: 800, fps: 30, Format: Y8 [ INFO] [1622751978.671878277]: fisheye2 stream is enabled - width: 848, height: 800, fps: 30, Format: Y8 [ INFO] [1622751978.672024076]: setupPublishers... [ INFO] [1622751978.680393084]: Expected frequency for fisheye1 = 30.00000 [ INFO] [1622751978.792317351]: Expected frequency for fisheye2 = 30.00000 [ INFO] [1622751978.869598264]: Start publisher IMU [ INFO] [1622751978.874502562]: setupStreams... [ INFO] [1622751978.874708268]: insert Fisheye to Tracking Module [ INFO] [1622751978.874788240]: insert Fisheye to Tracking Module [ INFO] [1622751978.874853491]: insert Gyro to Tracking Module [ INFO] [1622751978.874901558]: insert Accel to Tracking Module [ INFO] [1622751978.874966041]: insert Pose to Tracking Module [ INFO] [1622751978.900230705]: SELECTED BASE:Pose, 0 [ INFO] [1622751978.905418218]: RealSense Node Is Up! [ INFO] [1622751979.188422445]: I0603 20:26:19.000000 7097 trajectory_collator.cc:84] Create metrics handler for key: imu/0 [ INFO] [1622751979.368386447]: I0603 20:26:19.000000 7097 trajectory_collator.cc:84] Create metrics handler for key: odom/0 [ WARN] [1622751981.259026085]: W0603 20:26:21.000000 7097 node.cc:857] Expected topic "points2" (trajectory 0) (resolved topic "/os_cloud_node/points") but no publisher is currently active. [ WARN] [1622751981.259745544]: W0603 20:26:21.000000 7097 node.cc:866] Currently available topics are: /camera/fisheye2/image_raw/compressedDepth/parameter_updates,/camera/fisheye2/image_raw,/camera/fisheye2/camera_info,/rosout_agg,/camera/fisheye2/image_raw/compressedDepth,/camera/fisheye2/image_raw/compressed/parameter_updates,/camera/imu,/camera/fisheye1/image_raw,/camera/fisheye2/image_raw/theora/parameter_descriptions,/camera/fisheye1/camera_info,/tf_static,/camera/tracking_module/parameter_updates,/map,/diagnostics,/camera/odom/sample,/landmark_poses_list,/camera/realsense2_camera_manager/bond,/camera/fisheye2/image_raw/theora/parameter_updates,/camera/fisheye1/image_raw/theora/parameter_descriptions,/submap_list,/scan_matched_points2,/camera/accel/imu_info,/camera/fisheye1/image_raw/compressed,/rosout,/camera/fisheye2/image_raw/compressedDepth/parameter_descriptions,/camera/fisheye1/image_raw/compressedDepth/parameter_descriptions,/tf,/camera/fisheye2/image_raw/compressed,/camera/fisheye1/image_raw/compressed/parameter_descriptions,/camera/fisheye1/image_raw/theora/parameter_updates,/trajectory_node_list,/camera/tracking_module/parameter_descriptions,/camera/fisheye1/image_raw/compressedDepth/parameter_updates,/constraint_list,/camera/fisheye1/image_raw/theora,/camera/fisheye1/image_raw/compressedDepth,/camera/fisheye2/image_raw/theora,/camera/gyro/imu_info,/camera/fisheye1/image_raw/compressed/parameter_updates,/camera/fisheye2/image_raw/compressed/parameter_descriptions, [ WARN] [1622751981.688687986]: W0603 20:26:21.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751981.846756733]: W0603 20:26:21.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751981.986017508]: W0603 20:26:21.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751982.131692190]: W0603 20:26:22.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751982.290390695]: W0603 20:26:22.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751982.437998525]: W0603 20:26:22.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751982.590613571]: W0603 20:26:22.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751982.749131172]: W0603 20:26:22.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751982.886590197]: W0603 20:26:22.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751983.033882492]: W0603 20:26:23.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751983.202080460]: W0603 20:26:23.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751983.338129914]: W0603 20:26:23.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751983.492550742]: W0603 20:26:23.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751983.650969906]: W0603 20:26:23.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751983.790482117]: W0603 20:26:23.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751983.936050266]: W0603 20:26:23.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751984.094345104]: W0603 20:26:24.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751984.241993801]: W0603 20:26:24.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751984.394772087]: W0603 20:26:24.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751984.552916390]: W0603 20:26:24.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751984.690055464]: W0603 20:26:24.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751984.838188888]: W0603 20:26:24.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751985.005942099]: W0603 20:26:25.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751985.142012034]: W0603 20:26:25.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751985.296738285]: W0603 20:26:25.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751985.455804585]: W0603 20:26:25.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751985.594100514]: W0603 20:26:25.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751985.740596772]: W0603 20:26:25.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751985.910008014]: W0603 20:26:25.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751986.046117599]: W0603 20:26:26.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751986.198793928]: W0603 20:26:26.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751986.357079935]: W0603 20:26:26.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751986.494274851]: W0603 20:26:26.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751986.642030626]: W0603 20:26:26.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751986.810135502]: W0603 20:26:26.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751986.946054869]: W0603 20:26:26.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751987.101081584]: W0603 20:26:27.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751987.259037046]: W0603 20:26:27.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751987.398236603]: W0603 20:26:27.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751987.544332202]: W0603 20:26:27.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ INFO] [1622751987.661774846]: Sensor initialized successfully [ INFO] [1622751987.663156064]: Wrote metadata to $ROS_HOME/192.168.3.144.json [ INFO] [1622751987.665287590]: Using lidar_mode: 1024x10 [ INFO] [1622751987.665374666]: OS-0-64-U02 sn: 992109000205 firmware rev: v2.0.0 [ WARN] [1622751987.702457625]: W0603 20:26:27.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751987.854234808]: W0603 20:26:27.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ INFO] [1622751987.906480892]: I0603 20:26:27.000000 7097 trajectory_collator.cc:84] Create metrics handler for key: points2/0 [ INFO] [1622751987.906743752]: I0603 20:26:27.000000 7097 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '637583487793768995'. [ WARN] [1622751987.990235011]: W0603 20:26:27.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751988.145079029]: W0603 20:26:28.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751988.305995594]: W0603 20:26:28.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2) [ WARN] [1622751988.450033526]: W0603 20:26:28.000000 7097 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2)And then the warning messages continue forever until I kill the process.
Also, I have information about the rosnodes and rostopics in case it is useful. I initially thought this was a remapping issue as suggested here, here, etc. However, based on the output from
rosnode infoand my remappings in my launch filers_and_os_driver.launch, I don't think that is the issue. Seerosnode infooutput below:spike@slam:~$ rosnode info /cartographer_node -------------------------------------------------------------------------------- Node [/cartographer_node] Publications: * /constraint_list [visualization_msgs/MarkerArray] * /landmark_poses_list [visualization_msgs/MarkerArray] * /rosout [rosgraph_msgs/Log] * /scan_matched_points2 [sensor_msgs/PointCloud2] * /submap_list [cartographer_ros_msgs/SubmapList] * /tf [tf2_msgs/TFMessage] * /trajectory_node_list [visualization_msgs/MarkerArray] Subscriptions: * /camera/imu [sensor_msgs/Imu] * /camera/odom/sample [nav_msgs/Odometry] * /os_cloud_node/points [sensor_msgs/PointCloud2] * /tf [tf2_msgs/TFMessage] * /tf_static [tf2_msgs/TFMessage] Services: * /cartographer_node/get_loggers * /cartographer_node/set_logger_level * /finish_trajectory * /get_trajectory_states * /read_metrics * /start_trajectory * /submap_query * /trajectory_query * /write_state contacting node http://slam:42617/ ... Pid: 7097 Connections: * topic: /rosout * to: /rosout * direction: outbound (53995 - 127.0.0.1:55848) [11] * transport: TCPROS * topic: /tf * to: /cartographer_node * direction: outbound * transport: INTRAPROCESS * topic: /submap_list * to: /cartographer_occupancy_grid_node * direction: outbound (53995 - 127.0.0.1:55958) [17] * transport: TCPROS * topic: /tf * to: /cartographer_node (http://slam:42617/) * direction: inbound * transport: INTRAPROCESS * topic: /tf * to: /camera/realsense2_camera_manager (http://slam:46441/) * direction: inbound (58382 - slam:40637) [19] * transport: TCPROS * topic: /tf_static * to: /rs_to_os_tf_broadcaster (http://slam:42961/) * direction: inbound (58656 - slam:46765) [15] * transport: TCPROS * topic: /tf_static * to: /camera/realsense2_camera_manager (http://slam:46441/) * direction: inbound (58378 - slam:40637) [18] * transport: TCPROS * topic: /tf_static * to: /os_cloud_node (http://slam:41179/) * direction: inbound (41232 - slam:44877) [16] * transport: TCPROS * topic: /os_cloud_node/points * to: /os_cloud_node (http://slam:41179/) * direction: inbound (41226 - slam:44877) [23] * transport: TCPROS * topic: /camera/imu * to: /camera/realsense2_camera_manager (http://slam:46441/) * direction: inbound (58588 - slam:40637) [20] * transport: TCPROS * topic: /camera/odom/sample * to: /camera/realsense2_camera_manager (http://slam:46441/) * direction: inbound (58590 - slam:40637) [21] * transport: TCPROSspike@slam:~$ rosnode info /os_cloud_node -------------------------------------------------------------------------------- Node [/os_cloud_node] Publications: * /os_cloud_node/imu [sensor_msgs/Imu] * /os_cloud_node/points [sensor_msgs/PointCloud2] * /rosout [rosgraph_msgs/Log] * /tf_static [tf2_msgs/TFMessage] Subscriptions: * /os_node/imu_packets [ouster_ros/PacketMsg] * /os_node/lidar_packets [ouster_ros/PacketMsg] Services: * /os_cloud_node/get_loggers * /os_cloud_node/set_logger_level contacting node http://slam:41179/ ... Pid: 7065 Connections: * topic: /rosout * to: /rosout * direction: outbound (44877 - 127.0.0.1:40548) [10] * transport: TCPROS * topic: /os_cloud_node/points * to: /cartographer_node * direction: outbound (44877 - 127.0.0.1:41226) [16] * transport: TCPROS * topic: /tf_static * to: /cartographer_node * direction: outbound (44877 - 127.0.0.1:41232) [11] * transport: TCPROS * topic: /os_node/lidar_packets * to: /os_node (http://slam:43589/) * direction: inbound (38028 - slam:44097) [15] * transport: TCPROS * topic: /os_node/imu_packets * to: /os_node (http://slam:43589/) * direction: inbound (38032 - slam:44097) [17] * transport: TCPROSThe relevant launch files, configuration file options, and tf tree are posted here. If there is any additional information or files I can provide, please don't hesitate to ask, as I am new to ROS and Cartographer and do not know what information is most pertinent.
Thanks!