Hood NUC Cartographer Signs of Life 202003 Notes and Log
From wikidb
3/27k/20
cartographer20200327.txt
3/27/2020
http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_slam/#ros-2-slam
terminal 1
$ ros2 launch turtlebot3_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-03-27-16-32-50-653307-hood-12430
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.urdf
[INFO] [robot_state_publisher-1]: process started with pid [12440]
[INFO] [hlds_laser_publisher-2]: process started with pid [12441]
[INFO] [turtlebot3_ros-3]: process started with pid [12442]
[robot_state_publisher-1] Initialize urdf model from file: /home/eepp/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle.urdf
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 7 children
[robot_state_publisher-1] Link camera_link had 2 children
[robot_state_publisher-1] Link camera_depth_frame had 1 children
[robot_state_publisher-1] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-1] Link camera_rgb_frame had 1 children
[robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_left_link had 0 children
[robot_state_publisher-1] Link caster_back_right_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] got segment base_footprint
[robot_state_publisher-1] got segment base_link
[robot_state_publisher-1] got segment base_scan
[robot_state_publisher-1] got segment camera_depth_frame
[robot_state_publisher-1] got segment camera_depth_optical_frame
[robot_state_publisher-1] got segment camera_link
[robot_state_publisher-1] got segment camera_rgb_frame
[robot_state_publisher-1] got segment camera_rgb_optical_frame
[robot_state_publisher-1] got segment caster_back_left_link
[robot_state_publisher-1] got segment caster_back_right_link
[robot_state_publisher-1] got segment imu_link
[robot_state_publisher-1] got segment wheel_left_link
[robot_state_publisher-1] got segment wheel_right_link
[robot_state_publisher-1] Adding fixed segment from base_footprint to base_link
[robot_state_publisher-1] Adding fixed segment from base_link to camera_link
[robot_state_publisher-1] Adding fixed segment from camera_link to camera_depth_frame
[robot_state_publisher-1] Adding fixed segment from camera_depth_frame to camera_depth_optical_frame
[robot_state_publisher-1] Adding fixed segment from camera_link to camera_rgb_frame
[robot_state_publisher-1] Adding fixed segment from camera_rgb_frame to camera_rgb_optical_frame
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_left_link
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_right_link
[robot_state_publisher-1] Adding fixed segment from base_link to imu_link
[robot_state_publisher-1] Adding fixed segment from base_link to base_scan
[robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link
[robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!
terminal 2
eepp@hood:~$ ros2 run turtlebot3_teleop teleop_keyboard
Control Your TurtleBot3!
---------------------------
Moving around:
w
a s d
x
w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)
space key, s : force stop
CTRL-C to quit
currently: linear velocity 0.01 angular velocity 0.0
currently: linear velocity 0.02 angular velocity 0.0
currently: linear velocity 0.03 angular velocity 0.0
currently: linear velocity 0.04 angular velocity 0.0
currently: linear velocity 0.05 angular velocity 0.0
currently: linear velocity 0.0 angular velocity 0.0
terminal 3
eepp@hood:~$ ros2 launch turtlebot3_cartographer cartographer.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-03-27-16-34-16-039764-hood-12479
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [cartographer_node-1]: process started with pid [12489]
[INFO] [occupancy_grid_node-2]: process started with pid [12490]
[INFO] [rviz2-3]: process started with pid [12491]
[cartographer_node-1] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[cartographer_node-1] [WARN] [cartographer_ros]: W0327 16:34:16.000000 12489 tf_bridge.cc:67] "imu_link" passed to lookupTransform argument target_frame does not exist.
[cartographer_node-1] [WARN] [cartographer_ros]: W0327 16:34:17.000000 12489 tf_bridge.cc:67] "imu_link" passed to lookupTransform argument target_frame does not exist.
[cartographer_node-1] [WARN] [cartographer_ros]: W0327 16:34:17.000000 12489 tf_bridge.cc:67] "imu_link" passed to lookupTransform argument target_frame does not exist.
[rviz2-3] [ERROR] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result : active samplers with a different type refer to the same texture image unit
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 configuration_file_resolver.cc:41] Found '/home/eepp/turtlebot3_ws/install/turtlebot3_cartographer/share/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua' for 'turtlebot3_lds_2d.lua'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 configuration_file_resolver.cc:41] Found '/opt/ros/dashing/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 configuration_file_resolver.cc:41] Found '/opt/ros/dashing/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 configuration_file_resolver.cc:41] Found '/opt/ros/dashing/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 configuration_file_resolver.cc:41] Found '/opt/ros/dashing/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 configuration_file_resolver.cc:41] Found '/opt/ros/dashing/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 configuration_file_resolver.cc:41] Found '/opt/ros/dashing/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 configuration_file_resolver.cc:41] Found '/opt/ros/dashing/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 configuration_file_resolver.cc:41] Found '/opt/ros/dashing/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 configuration_file_resolver.cc:41] Found '/opt/ros/dashing/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 configuration_file_resolver.cc:41] Found '/opt/ros/dashing/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 submap_2d.cc:187] Added submap 1
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:16.000000 12489 map_builder_bridge.cc:132] Added trajectory with ID '0'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:17.000000 12489 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '637209488571770777'.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:17.000000 12489 local_trajectory_builder_2d.cc:127] Extrapolator not yet initialized.
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:31.000000 12489 collated_trajectory_builder.cc:72] imu rate: 20.00 Hz 5.00e-02 s +/- 1.57e-03 s (pulsed at 100.89% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:31.000000 12489 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 1.58e-03 s (pulsed at 101.70% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:31.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 8.75e-05 s (pulsed at 103.10% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:46.000000 12489 collated_trajectory_builder.cc:72] imu rate: 20.00 Hz 5.00e-02 s +/- 1.23e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:46.000000 12489 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 1.23e-03 s (pulsed at 100.81% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:34:46.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 1.60e-04 s (pulsed at 99.98% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:01.000000 12489 collated_trajectory_builder.cc:72] imu rate: 19.97 Hz 5.01e-02 s +/- 1.46e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:01.000000 12489 collated_trajectory_builder.cc:72] odom rate: 19.97 Hz 5.01e-02 s +/- 1.46e-03 s (pulsed at 100.83% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:01.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 8.99e-05 s (pulsed at 100.07% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:16.000000 12489 collated_trajectory_builder.cc:72] imu rate: 19.98 Hz 5.01e-02 s +/- 1.15e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:16.000000 12489 collated_trajectory_builder.cc:72] odom rate: 19.98 Hz 5.01e-02 s +/- 1.14e-03 s (pulsed at 100.82% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:16.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 9.30e-05 s (pulsed at 100.05% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:31.000000 12489 collated_trajectory_builder.cc:72] imu rate: 19.98 Hz 5.00e-02 s +/- 1.28e-03 s (pulsed at 100.01% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:31.000000 12489 collated_trajectory_builder.cc:72] odom rate: 19.98 Hz 5.00e-02 s +/- 1.27e-03 s (pulsed at 100.77% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:31.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 8.52e-05 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:46.000000 12489 collated_trajectory_builder.cc:72] imu rate: 19.99 Hz 5.00e-02 s +/- 1.39e-03 s (pulsed at 99.99% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:46.000000 12489 collated_trajectory_builder.cc:72] odom rate: 19.98 Hz 5.00e-02 s +/- 1.39e-03 s (pulsed at 100.81% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:46.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 1.10e-04 s (pulsed at 99.97% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:35:57.000000 12489 motion_filter.cc:42] Motion filter reduced the number of nodes to 5.2%.0
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:02.000000 12489 collated_trajectory_builder.cc:72] imu rate: 19.99 Hz 5.00e-02 s +/- 1.39e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:02.000000 12489 collated_trajectory_builder.cc:72] odom rate: 19.99 Hz 5.00e-02 s +/- 1.39e-03 s (pulsed at 100.81% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:02.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 9.85e-05 s (pulsed at 100.08% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:17.000000 12489 collated_trajectory_builder.cc:72] imu rate: 19.99 Hz 5.00e-02 s +/- 1.32e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:17.000000 12489 collated_trajectory_builder.cc:72] odom rate: 19.99 Hz 5.00e-02 s +/- 1.32e-03 s (pulsed at 100.82% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:17.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 6.92e-05 s (pulsed at 99.98% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:32.000000 12489 collated_trajectory_builder.cc:72] imu rate: 19.99 Hz 5.00e-02 s +/- 1.31e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:32.000000 12489 collated_trajectory_builder.cc:72] odom rate: 19.99 Hz 5.00e-02 s +/- 1.31e-03 s (pulsed at 100.73% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:32.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 8.05e-05 s (pulsed at 99.96% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:47.000000 12489 collated_trajectory_builder.cc:72] imu rate: 19.99 Hz 5.00e-02 s +/- 1.45e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:47.000000 12489 collated_trajectory_builder.cc:72] odom rate: 19.99 Hz 5.00e-02 s +/- 1.50e-03 s (pulsed at 100.83% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:36:47.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 6.43e-05 s (pulsed at 99.93% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:02.000000 12489 collated_trajectory_builder.cc:72] imu rate: 19.99 Hz 5.00e-02 s +/- 1.05e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:02.000000 12489 collated_trajectory_builder.cc:72] odom rate: 19.99 Hz 5.00e-02 s +/- 1.05e-03 s (pulsed at 100.81% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:02.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 8.83e-05 s (pulsed at 100.01% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:17.000000 12489 collated_trajectory_builder.cc:72] imu rate: 20.00 Hz 5.00e-02 s +/- 1.78e-03 s (pulsed at 100.01% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:17.000000 12489 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 1.78e-03 s (pulsed at 100.83% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:17.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 8.36e-05 s (pulsed at 99.90% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:32.000000 12489 collated_trajectory_builder.cc:72] imu rate: 20.00 Hz 5.00e-02 s +/- 1.17e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:32.000000 12489 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 1.16e-03 s (pulsed at 100.76% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:32.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 7.73e-05 s (pulsed at 99.99% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:38.000000 12489 motion_filter.cc:42] Motion filter reduced the number of nodes to 4.6%.0
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:47.000000 12489 collated_trajectory_builder.cc:72] imu rate: 20.00 Hz 5.00e-02 s +/- 1.15e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:47.000000 12489 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 1.15e-03 s (pulsed at 100.83% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:37:47.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 8.56e-05 s (pulsed at 99.99% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:02.000000 12489 collated_trajectory_builder.cc:72] imu rate: 20.00 Hz 5.00e-02 s +/- 1.57e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:02.000000 12489 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 1.56e-03 s (pulsed at 100.84% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:02.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 1.01e-04 s (pulsed at 100.07% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:17.000000 12489 collated_trajectory_builder.cc:72] imu rate: 20.00 Hz 5.00e-02 s +/- 1.21e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:17.000000 12489 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 1.21e-03 s (pulsed at 100.83% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:17.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 1.19e-04 s (pulsed at 100.02% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:32.000000 12489 collated_trajectory_builder.cc:72] imu rate: 20.00 Hz 5.00e-02 s +/- 1.36e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:32.000000 12489 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 1.35e-03 s (pulsed at 100.83% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:32.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 8.10e-05 s (pulsed at 99.99% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:47.000000 12489 collated_trajectory_builder.cc:72] imu rate: 20.00 Hz 5.00e-02 s +/- 1.08e-03 s (pulsed at 100.00% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:47.000000 12489 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 1.07e-03 s (pulsed at 100.80% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:38:47.000000 12489 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 7.49e-05 s (pulsed at 99.95% real time)
[cartographer_node-1] [INFO] [cartographer_ros]: I0327 16:39:02.000000 12489 collated_trajectory_builder.cc:72] imu rate: 20.00 Hz 5.00e-02 s +/- 1.06e-03 s (pulsed at 100.01% real time)
See screenshot
ScreenshotCartographer20200327.png
terminal 4
eepp@hood:Pictures$
eepp@hood:Pictures$ ros2 run nav2_map_server map_saver -f ~/map
[INFO] [map_saver]: Waiting for the map
[INFO] [map_saver]: Received a 91 X 83 map @ 0.050 m/pix
[INFO] [map_saver]: Writing map occupancy data to /home/eepp/map.pgm
[INFO] [map_saver]: Writing map metadata to /home/eepp/map.yaml
[INFO] [map_saver]: Map saved
Map saver succeeded
eepp@hood:Pictures$
eepp@hood:Pictures$ cd
eepp@hood:~$
eepp@hood:~$
eepp@hood:~$ ls map*
map.pgm map.yaml
eepp@hood:~$
eepp@hood:~$ cat map.yaml
image: /home/eepp/map.pgm
mode: trinary
resolution: 0.05
origin: [-1.05, -1.95, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25eepp@hood:~$
19.7 References
https://google-cartographer.readthedocs.io/en/latest/
https://google-cartographer-ros.readthedocs.io/en/latest/
