[WARN] [1555592651.979516436] : W0418 21:04:11. 000000 28585 sensor_bridge. Cc: 213] Ignored subdivision of a can message from sensor scan because previous subdivision time 621355968000000000 is not before the current subdivision time 621355968000000000
[WARN] [1555592652.163651889] : W0418 21:04:12. 000000 28585 sensor_bridge. Cc: 213] Ignored subdivision of a can message from sensor scan because previous subdivision time 621355968000000000 is not before the current subdivision time 621355968000000000
This is the configuration file
& lt; Launch>
& lt; Param name="/use_sim_time" value="https://bbs.csdn.net/topics/false"/& gt;
& lt; The node name="cartographer_node PKG"="cartographer_ros
"Type="cartographer_node" args="
- configuration_directory $(find cartographer_ros)/configuration_files
- configuration_basename revo_lds. Lua
"The output="screen" & gt;
& lt; Remap the from="scan" to="/scan"/& gt;
& lt; To remap the from="odom"="/odom"/& gt;
& lt;/node>
& lt; The node name="cartographer_occupancy_grid_node PKG"="cartographer_ros
"Type="cartographer_occupancy_grid_node" args="- 0.05" resolution/& gt;
& lt;/launch>
Lua files
Include "map_builder. Lua
"Include "trajectory_builder. Lua
"
The options={
Map_builder=map_builder,
Trajectory_builder=trajectory_builder,
Map_frame="map",
Tracking_frame="base_link",
Published_frame="odom",
Odom_frame="odom",
Provide_odom_frame=false,
Publish_frame_projected_to_2d=true,
Use_pose_extrapolator=true,
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=5 e - 3,
Trajectory_publish_period_sec=30 e - 3,
rangefinder_sampling_ratio=0.5,
odometry_sampling_ratio=0.5,Fixed_frame_pose_sampling_ratio=1.,
Imu_sampling_ratio=1,
Landmarks_sampling_ratio=1.,
}
MAP_BUILDER. Use_trajectory_builder_2d=true
TRAJECTORY_BUILDER_2D. Submaps. Num_range_data=https://bbs.csdn.net/topics/35
TRAJECTORY_BUILDER_2D. Min_range=0.3
TRAJECTORY_BUILDER_2D. Max_range=8.
TRAJECTORY_BUILDER_2D. The missing_data_ray_length=1.
TRAJECTORY_BUILDER_2D. Use_imu_data=https://bbs.csdn.net/topics/false
TRAJECTORY_BUILDER_2D. Use_online_correlative_scan_matching=true
TRAJECTORY_BUILDER_2D. Real_time_correlative_scan_matcher. Linear_search_window=0.1
TRAJECTORY_BUILDER_2D. Real_time_correlative_scan_matcher. Translation_delta_cost_weight=10.
TRAJECTORY_BUILDER_2D. Real_time_correlative_scan_matcher. Rotation_delta_cost_weight=1 e - 1
POSE_GRAPH. Optimization_problem. Huber_scale=1 e2
POSE_GRAPH. Optimize_every_n_nodes=35
POSE_GRAPH. Constraint_builder. Min_score=0.65
Return the options
