保存地图报错

[mobi1019]

您好，我在保存地图的时候执行命令后报错，您看是什么原因呢？ robot@robot:~/funny_lidar_slam_ws$ rosservice call /funny_lidar_slam/save_map "map_path: '/home/robot/funny_lidar_slam_ws/map' split_map: false" Traceback (most recent call last): File "/opt/ros/noetic/bin/rosservice", line 35, in <module> rosservice.rosservicemain() File "/opt/ros/noetic/lib/python3/dist-packages/rosservice/__init__.py", line 767, in rosservicemain _rosservice_cmd_call(argv) File "/opt/ros/noetic/lib/python3/dist-packages/rosservice/__init__.py", line 628, in _rosservice_cmd_call service_args.append(yaml.safe_load(arg)) File "/usr/lib/python3/dist-packages/yaml/__init__.py", line 162, in safe_load return load(stream, SafeLoader) File "/usr/lib/python3/dist-packages/yaml/__init__.py", line 114, in load return loader.get_single_data() File "/usr/lib/python3/dist-packages/yaml/constructor.py", line 49, in get_single_data node = self.get_single_node() File "/usr/lib/python3/dist-packages/yaml/composer.py", line 36, in get_single_node document = self.compose_document() File "/usr/lib/python3/dist-packages/yaml/composer.py", line 55, in compose_document node = self.compose_node(None, None) File "/usr/lib/python3/dist-packages/yaml/composer.py", line 84, in compose_node node = self.compose_mapping_node(anchor) File "/usr/lib/python3/dist-packages/yaml/composer.py", line 127, in compose_mapping_node while not self.check_event(MappingEndEvent): File "/usr/lib/python3/dist-packages/yaml/parser.py", line 98, in check_event self.current_event = self.state() File "/usr/lib/python3/dist-packages/yaml/parser.py", line 438, in parse_block_mapping_key raise ParserError("while parsing a block mapping", self.marks[-1], yaml.parser.ParserError: while parsing a block mapping in "<unicode string>", line 1, column 1: map_path: '/home/robot/funny_lid ... ^ expected <block end>, but found '<scalar>' in "<unicode string>", line 1, column 49: ... /robot/funny_lidar_slam_ws/map' split_map: false

[mobi1019]

robot@robot:~/funny_lidar_slam_ws$ rosservice call /funny_lidar_slam/save_map "map_path: '/home/robot/funny_lidar_slam_ws/map' split_map: false" Traceback (most recent call last): File "/opt/ros/noetic/bin/rosservice", line 35, in rosservice.rosservicemain() File "/opt/ros/noetic/lib/python3/dist-packages/rosservice/init.py", line 767, in rosservicemain _rosservice_cmd_call(argv) File "/opt/ros/noetic/lib/python3/dist-packages/rosservice/init.py", line 628, in _rosservice_cmd_call service_args.append(yaml.safe_load(arg)) File "/usr/lib/python3/dist-packages/yaml/init.py", line 162, in safe_load return load(stream, SafeLoader) File "/usr/lib/python3/dist-packages/yaml/init.py", line 114, in load return loader.get_single_data() File "/usr/lib/python3/dist-packages/yaml/constructor.py", line 49, in get_single_data node = self.get_single_node() File "/usr/lib/python3/dist-packages/yaml/composer.py", line 36, in get_single_node document = self.compose_document() File "/usr/lib/python3/dist-packages/yaml/composer.py", line 55, in compose_document node = self.compose_node(None, None) File "/usr/lib/python3/dist-packages/yaml/composer.py", line 84, in compose_node node = self.compose_mapping_node(anchor) File "/usr/lib/python3/dist-packages/yaml/composer.py", line 127, in compose_mapping_node while not self.check_event(MappingEndEvent): File "/usr/lib/python3/dist-packages/yaml/parser.py", line 98, in check_event self.current_event = self.state() File "/usr/lib/python3/dist-packages/yaml/parser.py", line 438, in parse_block_mapping_key raise ParserError("while parsing a block mapping", self.marks[-1], yaml.parser.ParserError: while parsing a block mapping in "", line 1, column 1: map_path: '/home/robot/funny_lid ... ^ expected , but found '' in "", line 1, column 49: ... /robot/funny_lidar_slam_ws/map' split_map: false

[zm0612]

你好，保存地图时，如果使用了自定义路径，需要给完整的路径和地图名称，例如, rosservice call /funny_lidar_slam/save_map "map_path: '/home/xx/xx/map.pcd' split_map: false"

另外还要确保，路径对应的文件夹存在。