hi, im running cartographer on a robot and can produce good map.

after following some tutorial about turtlebot 3 simulator, i decide to try it using my real robot and rplidar without pre existing map. here the url of youtube about the tutorial:

https://www.youtube.com/watch?v=dDODrSy6cYU&t=203s

after i change some parameter and launch file, every thigs look fine until i realize that the global costmap took time so long to show lethal obstacle. besides, the local costmap its seems dont appear at all.

here my launch file:

<launch>
  <!-- Arguments -->
  <arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
  <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
  <arg name="open_rviz" default="true"/>
  <arg name="move_forward_only" default="false"/>

  <!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="model" value="$(arg model)" />
  </include>

  <!-- AMCL -->
  <include file="$(find auto_nav)/launch/amcl.launch"/>


  <!--SLAM-->
  <include file="$(find turtlebot3_slam)/launch/turtlebot3_$(arg slam_methods).launch">
    <arg name="model" value="$(arg model)" />
    <arg name="configuration_basename" value="$(arg configuration_basename)"/>
  </include>

  <!-- move_base -->
  <include file="$(find auto_nav)/launch/move_base.launch">
    <arg name="model" value="$(arg model)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include>

  <!-- rviz -->
  <group if="$(arg open_rviz)"> 
    <node pkg="rviz" type="rviz" name="rviz" required="true"
          args="-d $(find auto_nav)/rviz/turtlebot3_auto_nav.rviz"/>
  </group>
</launch>

here my local costmap param:

local_costmap:
  global_frame: odom
  robot_base_frame: base_link

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5  

  static_map: false  
  rolling_window: true
  width: 1
  height: 1
  resolution: 0.05

global costmap param:

global_costmap:
  global_frame: map
  robot_base_frame: base_link

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5

  static_map: true
  rolling_window: true 

in my opinion but not sure. its becaue the cartographer obstacle value is between 0-255 mean while the other slam algorith its not.

its seems there are already people have same problem like me: https://github.com/cartographer-project/cartographer/issues/1498

its seems they provide some nodes file. But im still dont understand how to do with this file: https://github.com/cartographer-project/cartographer/blob/d7b4656741bbf99f922c5ea7dddf15a1a74aec0f/cartographer/io/submap_painter.cc#L209

i really need help. thx

cartographer, ubuntu 18, ros melodic, rplidar,

cartographer source: https://medium.com/robotics-weekends/2d-mapping-using-google-cartographer-and-rplidar-with-raspberry-pi-a94ce11e44c5

my rviz view: https://drive.google.com/file/d/1DuncrFipKhCVHrb83kk_JBm42PsQS661/view?usp=sharing