roslaunch Cartographer, RViz map cannot be displayed

[tsaiboyu]

roslaunch Cartographer, RViz map cannot be displayed Both odom and lidar have successfully published and subscribed

[tsaiboyu]

this is my_robot.lua -- Copyright 2016 The Cartographer Authors

-- Licensed under the Apache License, Version 2.0 (the "License"); -- you may not use this file except in compliance with the License. -- You may obtain a copy of the License at -- tracking_frame = "base_link", -- http://www.apache.org/licenses/LICENSE-2.0

-- Unless required by applicable law or agreed to in writing, software -- distributed under the License is distributed on an "AS IS" BASIS, -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -- See the License for the specific language governing permissions and -- limitations under the License.

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

options = { map_builder = MAP_BUILDER, trajectory_builder = TRAJECTORY_BUILDER, map_frame = "map", tracking_frame = "laser", published_frame = "odom", odom_frame = "odom", provide_odom_frame = true, 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 = 10, 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.num_accumulated_range_data = 10 MAP_BUILDER.num_background_threads = 7 POSE_GRAPH.optimization_problem.huber_scale = 5e2 POSE_GRAPH.optimize_every_n_nodes = 320 POSE_GRAPH.constraint_builder.sampling_ratio = 0.03 POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10 POSE_GRAPH.constraint_builder.min_score = 0.62 POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66

return options