3D SLAM Cartographer

asked 2017-01-31 17:06:05 -0600

farhatm gravatar image

updated 2017-01-31 17:09:13 -0600


I have a VLP-16 - Velodyne LiDAR (3d LiDAR) that publish a pointCloud2 /horizontal_laser_3d msg and a IMU that publish a /imu. I change the conficuration in the backpack_3d.lua. when I start cartographer_node I get this error message in rviz (submaps):

For frame [map]: Frame [map] does not exist. But wehn i use a 2D LiDAR and the 2D cartographer node everything work fine. I know that, I d'ont have a transform between odom and map but why? any idea how can i fix this error?


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Maybe the map_frame parameter is set to something else? Or one of the other parameters is not configured properly? (See https://google-cartographer-ros.readt... )

spmaniato gravatar image spmaniato  ( 2017-01-31 20:16:50 -0600 )edit

Actually everything is set right like in this page, I've checked it a couple of times map_frame = "map", I wonder why the Frame [map] does not exist, If I will use it to create a map.

farhatm gravatar image farhatm  ( 2017-02-01 03:33:58 -0600 )edit

Another explanation might be that the cartographer_node isn't broadcasting the map to whatever other frame and therefore tf doesn't know about that frame. Try rosrun tf view_frames or rosrun rqt_tf_tree rqt_tf_tree after launching everything.

spmaniato gravatar image spmaniato  ( 2017-02-01 08:53:38 -0600 )edit

yes, I try it, I can seen Odom at the top and than base_link and the 2 Sensor at the bottom. But I c'ant see the map frame. Like I said before the 2D node work without problems, only the 3d node. did you have any idea? thx

farhatm gravatar image farhatm  ( 2017-02-01 09:23:52 -0600 )edit

There were no problems, I have not waited enough. My laptop is not fast enough to use 3d SLAM.

farhatm gravatar image farhatm  ( 2017-02-01 10:07:30 -0600 )edit

hello,can you share the project with me?

fighting__ gravatar image fighting__  ( 2018-10-08 06:32:02 -0600 )edit