the time of imu error

[gavinwangpj]

hello everyone, i have run cartographer in turtlebot3 waffle pi, but can't use imu to make a map. no_imu is ok. and the error log as follow: [ INFO] [1525244437.574660587]: I0502 15:00:37.000000 3937 collated_trajectorybuilder.cc:72] scan rate: 4.92 Hz 2.03e-01 s +/- 2.32e-02 s (pulsed at 99.70% real time) t:636608412387287190, t: 636608412387222648,dt=-0.0064542 F0502 15:00:38.786036 3937 ordered_multi_queue.cc:112] Check failed: last_dispatchedtime <= next_data->GetTime() (636608412387287190 vs. 636608412387222648) Non-sorted data added to queue: '(0, imu)' [FATAL] [1525244438.787813602]: F0502 15:00:38.000000 3937 ordered_multi_queue.cc:112] Check failed: last_dispatchedtime <= next_data->GetTime() (636608412387287190 vs. 636608412387222648) Non-sorted data added to queue: '(0, imu)' Check failure stack trace: @ 0x76eb986e google::LogMessage::Fail() @ 0x76ebae6a google::LogMessage::SendToLog() @ 0x76eb951c google::LogMessage::Flush() @ 0x76ebb48c google::LogMessageFatal::~LogMessageFatal() @ 0x1bacd8 cartographer::sensor::OrderedMultiQueue::Dispatch() @ 0x1bb482 cartographer::sensor::OrderedMultiQueue::Add() @ 0x1bc3e0 cartographer::sensor::Collator::AddSensorData() @ 0x21280e cartographer::mapping::CollatedTrajectoryBuilder::AddData() @ 0x213c8c cartographer::mapping::CollatedTrajectoryBuilder::AddSensorData() @ 0x1a1bd8 cartographer_ros::SensorBridge::HandleOdometryMessage() @ 0x183fc0 cartographer_ros::Node::HandleOdometryMessage() @ 0x18d468 boost::detail::function::void_function_obj_invoker1<>::invoke() @ 0x195520 ros::SubscriptionCallbackHelperT<>::call() @ 0x76772bbc ros::SubscriptionQueue::call() @ 0x767382e4 ros::CallbackQueue::callOneCB() @ 0x76738fa0 ros::CallbackQueue::callAvailable() @ 0x76775a24 ros::SingleThreadedSpinner::spin() @ 0x767650fc ros::spin() @ 0x17ecf6 cartographer_ros::(anonymous namespace)::Run() @ 0x17c54e main @ 0x763668aa libc_start_main [cartographer_node-1] process has died [pid 3937, exit code -6, cmd /home/sunny/gcatkin_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/sunny/catkin_ws/src/turbot3/turbot3_slam/config -configuration_basename turbot3_lidar_2d.lua scan:=/scan __name:=cartographer_node log:=/home/sunny/.ros/log/dea8386a-4dcb-11e8-9d35-e470b8ea7c52/cartographer_node-1.log]. log file: /home/sunny/.ros/log/dea8386a-4dcb-11e8-9d35-e470b8ea7c52/cartographer_node-1*.log

why not the time of imu data ,publish one by one; or some choke ?

[sradmard]

You may want to check this issue: https://github.com/googlecartographer/cartographer_ros/issues/699

[justin-changqi]

Hi @sradmard, how do you print the FATAL messages? ([FATAL] [1525244438.787813602]: F0502 15:00:38.000000 3937 ordered_multi_queue.cc:112] ... in your case). I fail to run the demo_backpack_2d.launch with the official bag file on Ubuntu20.04, and it showed "[cartographer_node-2] process has died [pid 156314, exit code -11, cmd....". It is hard to find out what happed if it does not show the FATAL message.

[Milalaa]

hi！@sradmard I meet the same problem. How do you solve it ?