cartographer_ros can not accept data:(Dropped empty horizontal range data) [closed]

asked 2018-08-15 07:34:28 -0600

xxx-robot gravatar image

my lua file:

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

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_imu_link",
  published_frame = "base_imu_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  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 = 1,
  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

return options

I use arduino to public odom data, I also launch razor_imu_9dof(imu), urg_node(laser scan) and cartographer_ros(HEAD detached at 1.0.0 master), there is my tf graph:

image descriptionhttps://github.com/CccYunxiao/cartogr...

but there still get problems:

[ WARN] [1534335805.047046943]: W0815 20:23:25.000000  3824 local_trajectory_builder_2d.cc:215] Dropped empty horizontal range data.
[ WARN] [1534335805.147245481]: W0815 20:23:25.000000  3824 local_trajectory_builder_2d.cc:215] Dropped empty horizontal range data.
[ WARN] [1534335805.246809306]: W0815 20:23:25.000000  3824 local_trajectory_builder_2d.cc:215] Dropped empty horizontal range data.

The cartographer is ceaselessly pose the warn about without range data.

What is real my problem? And how can i solve this problem?

I need helps. Thx.

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Closed for the following reason duplicate question by xxx-robot
close date 2018-09-28 02:14:56.541548