Fixed Frame [map] does not exist

[SuperrHaze]

General discription: Cartographer succeed to publish topic /map and submaps are shown in rviz, however, the Fixed Frame [map] does not exist, and the tf transform map->odom doesn't exit either.I use robot_localization to publish /odom. RVIZ: lua file:

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 = "odom",
    odom_frame = "odom",
    provide_odom_frame = false,
    publish_frame_projected_to_2d = false,
    use_pose_extrapolator = true,
    use_odometry = true,
    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 = 10
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 6.
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

return options

tf_tree: rqt_graph: rostopic list: cartographer terminal: launch file:

<launch>

  <param name="/use_sim_time" value="true" />  

  <node name="cartographer_node" pkg="cartographer_ros"  
        type="cartographer_node" args="  
            -configuration_directory $(find cartographer_ros)/configuration_files  
            -configuration_basename delta_lidar.lua"  
        output="screen">  
    <remap from="scan" to="scan" />  
  </node>  

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"  
        args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />  
</launch>

Thank you for any suggestions！

[moooeeeep]

I have the same issue currently.

My current hypothesis is that the version of cartographer_ros that I am using is so old (the one distributed via the ros package repository), that it doesn't provide that functionality. For reference:

Package: ros-melodic-cartographer-ros
Version: 1.0.0-1bionic.20210505.045052
Priority: extra
Section: misc
Maintainer: The Cartographer Authors <cartographer-owners@googlegroups.com>
Installed-Size: 32,0 MB
Depends: libboost-iostreams1.65.1, libboost-system1.65.1, libc6 (>= 2.27), libcairo2 (>= 1.6.0), libceres1, libgcc1 (>= 1:3.0), libgflags2.2, libgoogle-glog0v5, liblua5.2-0, libpcl-common1.8, libprotobuf10, libstdc++6 (>= 6), liburdfdom-world, libgflags-dev, libgoogle-glog-dev, libpcl-dev, ros-melodic-cartographer (>= 1.0.0), ros-melodic-cartographer-ros-msgs (>= 1.0.0), ros-melodic-eigen-conversions, ros-melodic-geometry-msgs, ros-melodic-message-runtime, ros-melodic-nav-msgs, ros-melodic-pcl-conversions, ros-melodic-robot-state-publisher, ros-melodic-rosbag, ros-melodic-roscpp, ros-melodic-roslaunch, ros-melodic-roslib, ros-melodic-sensor-msgs, ros-melodic-std-msgs, ros-melodic-tf2, ros-melodic-tf2-eigen, ros-melodic-tf2-ros, ros-melodic-urdf, ros-melodic-visualization-msgs
Homepage: https://github.com/googlecartographer/cartographer_ros
Download-Size: 4.014 kB
APT-Manual-Installed: yes
APT-Sources: http://packages.ros.org/ros/ubuntu bionic/main amd64 Packages
Description: Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
 This package provides Cartographer's ROS integration.

When I try to set the parameters publish_to_tf and publish_tracked_pose it seems it gives an error message as if it doesn't recognize those parameters.

F0914 10:35:11.254232 14788 lua_parameter_dictionary.cc:410] Check failed: 1 == reference_counts_.count(key) (1 vs. 0) Key 'publish_to_tf' was used the wrong number of times.
[FATAL] [1631608511.254476873]: F0914 10:35:11.000000 14788 lua_parameter_dictionary.cc:410] Check failed: 1 == reference_counts_.count(key) (1 vs. 0) Key 'publish_to_tf' was used the wrong number of times.
*** Check failure stack trace: ***
    @     0x7f9e426250cd  google::LogMessage::Fail()
    @     0x7f9e42626f33  google::LogMessage::SendToLog()
    @     0x7f9e42624c28  google::LogMessage::Flush()
    @     0x7f9e42627999  google::LogMessageFatal::~LogMessageFatal()
    @     0x55bed4f4afe9  (unknown)
    @     0x55bed4f4b18d  (unknown)
    @     0x55bed4f34495  (unknown)
    @     0x55bed4f07131  (unknown)
    @     0x55bed4f054b4  (unknown)
    @     0x7f9e3f572bf7  __libc_start_main
    @     0x55bed4f06e0a  (unknown)
[cartographer_node-2] process has died [pid 14788, exit code -6, cmd /opt/ros/melodic/lib/cartographer_ros/cartographer_node ...

I'll try to use a newer version and see how it goes.

Otherwise the mapping seems to work quite well.

[moooeeeep]

After doing some more research I found a configuration where it would publish the transforms.

I let my odometry source broadcast the odometry transform (instead of just providing the topic) and adjusted the lua config basically to what you have too:

...
map_frame = "map",
tracking_frame = "imu_frame",
published_frame = "odom",
odom_frame = "odom",
provide_odom_frame = false,
...

Now it provides the transform between map and odom, the odometry source provides base_link to odom, and so I have the tree I always wanted.

Not sure if this was actually "the same issue" in the end.

[bharath5673]

this will help

sudo apt install ros-humble-gazebo-ros
sudo apt-get install ros-humble-gazebo-msgs
sudo apt-get install ros-humble-gazebo-plugins