[ INFO] [1627005667.129649143, 2926.515000000]: I0723 10:01:07.000000 18572 local_trajectory_builder_2d.cc:295] Extrapolator not yet initialized.
[ WARN] [1627005667.135134181, 2926.520000000]: W0723 10:01:07.000000 18572 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 ms
[ INFO] [1627005681.908738640, 2940.500000000]: I0723 10:01:21.000000 18572 collated_trajectory_builder.cc:72] odom rate: 100.00 Hz 1.00e-02 s +/- 1.12e-03 s (pulsed at 93.71% real time)
[ INFO] [1627005681.908801870, 2940.500000000]: I0723 10:01:21.000000 18572 collated_trajectory_builder.cc:72] scan rate: 5.49 Hz 1.82e-01 s +/- 8.97e-04 s (pulsed at 94.81% real time)
[ INFO] [1627005689.843179760, 2947.991000000]: I0723 10:01:29.000000 18572 submap_2d.cc:187] Added submap 2
[ INFO] [1627005690.976567495, 2949.083000000]: I0723 10:01:30.000000 18587 constraint_builder_2d.cc:281] 0 computations resulted in 0 additional constraints.
[ INFO] [1627005690.976616686, 2949.083000000]: I0723 10:01:30.000000 18587 constraint_builder_2d.cc:283] Score histogram:
Count: 0
[ INFO] [1627005696.914395685, 2954.708000000]: I0723 10:01:36.000000 18572 collated_trajectory_builder.cc:72] odom rate: 100.00 Hz 1.00e-02 s +/- 1.28e-03 s (pulsed at 94.66% real time)
[ INFO] [1627005696.914515840, 2954.708000000]: I0723 10:01:36.000000 18572 collated_trajectory_builder.cc:72] scan rate: 5.49 Hz 1.82e-01 s +/- 1.35e-03 s (pulsed at 94.85% real time)
F0723 10:01:39.867323 18572 map_by_time.h:43] Check failed: data.time > std::prev(trajectory.end())->first (621355997572920000 vs. 621355997572920000)
[FATAL] [1627005699.867705041, 2957.440000000]: F0723 10:01:39.000000 18572 map_by_time.h:43] Check failed: data.time > std::prev(trajectory.end())->first (621355997572920000 vs. 621355997572920000)
*** Check failure stack trace: ***
@ 0x7f81ca4a50cd google::LogMessage::Fail()
@ 0x7f81ca4a6f33 google::LogMessage::SendToLog()
@ 0x7f81ca4a4c28 google::LogMessage::Flush()
@ 0x7f81ca4a7999 google::LogMessageFatal::~LogMessageFatal()
@ 0x563f8ec7d9e2 (unknown)
@ 0x563f8ec2ee34 (unknown)
@ 0x563f8ec799e7 (unknown)
@ 0x563f8ec66b2d (unknown)
@ 0x563f8ec65214 (unknown)
@ 0x563f8ec65f2e (unknown)
@ 0x563f8ebd105a (unknown)
@ 0x563f8ebd285b (unknown)
@ 0x563f8ebd361f (unknown)
@ 0x563f8ebd12b9 (unknown)
@ 0x563f8ec647d9 (unknown)
@ 0x563f8ec66d12 (unknown)
@ 0x563f8eba0dad (unknown)
@ 0x563f8eba1d5f (unknown)
@ 0x563f8eba211c (unknown)
@ 0x563f8eb7a37e (unknown)
@ 0x563f8eb8a04e (unknown)
@ 0x563f8eb98b8d (unknown)
@ 0x7f81c8ab3152 ros::SubscriptionQueue::call()
@ 0x7f81c8a5d829 ros::CallbackQueue::callOneCB()
@ 0x7f81c8a5f5cb ros::CallbackQueue::callAvailable()
@ 0x7f81c8ab6cf9 ros::SingleThreadedSpinner::spin()
@ 0x7f81c8a9f62b ros::spin()
@ 0x563f8eb7250c (unknown)
@ 0x563f8eb704b4 (unknown)
@ 0x7f81c73f2bf7 __libc_start_main
@ 0x563f8eb71e0a (unknown)
[cartographer_node-1] process has died [pid 18572, exit code -6, cmd /opt/ros/melodic/lib/cartographer_ros/cartographer_node -configuration_directory /home/wh1/catkin_slam/src/mbot_navigation/config -configuration_basename lidar.lua scan:=scan __name:=cartographer_node __log:=/home/wh1/.ros/log/a91d1868-eb53-11eb-b941-98541b502e54/cartographer_node-1.log].
log file: /home/wh1/.ros/log/a91d1868-eb53-11eb-b941-98541b502e54/cartographer_node-1*.log
[ WARN] [1627005710.434488944, 2967.465000000]: Could not compute submap fading: Lookup would require extrapolation into the past. Requested time 2957.438000000 but the earliest data is at time 2957.462000000, when looking up transform from frame [base_link] to frame [map]
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