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cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.
Apache License 2.0
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Timestamp bug #1667

Open nonlinear1 opened 3 years ago

nonlinear1 commented 3 years ago

I record a ROS bag file with two velodyne vlp16s and a microstrain 3DM-GX5-25. I run cartographer with the ROS bag file. I found the following two errors: 1) [ERROR] [1628038470.740204106, 1626172836.931467193]: E0804 08:54:30.000000 5984 local_trajectory_builder_3d.cc:188] Timestamp of individual range data point jumps backwards from 637617696365536812 to 637617696365534431 2)[FATAL] [1628038472.445128769, 1626172838.636362872]: F0804 08:54:32.000000 5984 msg_conversion.cc:273] Check failed: point.time <= 0.f (4.15687e-05 vs. 0) Encountered a point with a larger stamp than the last point in the cloud. or you can see the screensnap of the errors

Screenshot from 2021-08-04 08-53-25

I try several times to record the ROS bag file. the two errors always occurs. But when I run lio-sam with the ROS bagfile, I succeeding in running lio-sam! I think that for timestamp processing cartographer should change this timestamp related check or someone know how I can solve this timestamp issue for running cartographer! Thank you very much!

rugvedAnfanger commented 2 weeks ago

Even I have the same error. When I run the cartographer validate bag file, I get a large gap between my timestamp. Anyone have a clue how to solve this?