Can't see the tracked pose as a topic

[ArghyaChatterjee]

Hi, I am trying to get tracked pose from cartographer. I am using ros melodic and ubuntu 18.04 where cartographer and cartographer ros binary packages are installed through apt. I am using a single 2d rplidar A1M8.

As suggested in this pr and here, if I set the parameter publish_tracked_pose = true, I get an error saying lua_parameter_dictionary.cc:410] Check failed: 1 == reference_counts_.count(key) (1 vs. 0) Key 'publish_tracked_pose' was used the wrong number of times. Here is my .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 = "base_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  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 = 10,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,

  publish_tracked_pose = true,

  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 = 7
TRAJECTORY_BUILDER_2D.min_range = 0.1
TRAJECTORY_BUILDER_2D.max_range = 10
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 = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

return options

As suggested by some issues, I changed the parameter publish_tracked_pose = on, the error was gone but I can't see the tracked_pose topic published.

Here is my launch file:

<launch>
  <!-- <param name="robot_description" textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" />-->

 <!-- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> -->

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_lidar" args="0 0 0 0 0 0 base_link laser 100" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find carto_mapper)/config
          -configuration_basename x2.lua"
      output="screen">
  </node>

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

  <include file="$(find rplidar_ros)/launch/rplidar.launch" />
  <node name="rviz" pkg="rviz" type="rviz"/>
</launch>

Any help is appreciated.

[eithwa]

I found that version 1.0.0 does not contain this feature, you may need to update the version.

[goldtimes]

i have question, 1.0.0 version, is latest. how can i update this version?