Google cartographer-ros 3D slam empty map problem

edit

I am trying to adapt the bagpack_3d tutorial of cartographer ROS to a sick laser scanner with an imu. The scanner and imu are working. However with the current setup, I do not get any localization/map (empty /submap_list). So basically somewhere in the \cartographer_node there is an error.

My configuration file looks like this:

include "map_builder.lua"
include "trajectory_builder.lua"
options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "imu_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  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.,
}
TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 160
MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7
POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.optimize_every_n_nodes = 320
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
POSE_GRAPH.constraint_builder.min_score = 0.62
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66
return options

In comparison to the backpack tutorial (with 2 velodyne scanners), I have a simple horizontal lidar. Accordingly, I have changed the parameters:

  num_laser_scans = 1,
  num_point_clouds = 0

To create the tf, we call the robot urdf file with the robot state publisher in the launchfile

<launch>
  <param name="robot_description"
    textfile="$(find robot_navigation)/urdf/robot_3d.urdf" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find robot_navigation)/configuration_files
          -configuration_basename robot_3d.lua"
      output="screen">
   <remap from="imu" to="imu/data_raw" />
   <remap from="scan" to="sick_s300_laser/scan" />
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>

My major question: Do you have any idea, why I do not get any localization/map?

My minor question: As I am using the melodic binary version: sudo apt install ros-melodic-cartographer-ros Using the debugger from visual studio code with ROS plugin, I can launch the cartographer, but pausing the debugger does not work/give me any address in the binaries. Do you have a good idea how to debug the binary ros packages?

Thanks a lot!