wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_3.launch.py
[INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-07-27-22-11-18-394147-wjs-desktop-2590
[INFO] [launch]: Default logging verbosity is set to INFO
pkg_share =/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher<==
model_path =/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/urdf/fishbot_base.urdf<==
[INFO] [sllidar_node-1]: process started with pid [2591]
[INFO] [wit_ros2_imu-2]: process started with pid [2593]
[INFO] [test01-3]: process started with pid [2595]
[INFO] [robot_state_publisher-4]: process started with pid [2597]
[INFO] [cartographer_node-5]: process started with pid [2599]
[INFO] [cartographer_occupancy_grid_node-6]: process started with pid [2601]
[robot_state_publisher-4] [WARN] [1753625479.496455510] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.
[sllidar_node-1] [INFO] [1753625479.557565924] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0
[cartographer_node-5] [INFO] [1753625479.614804333] [cartographer logger]: I0727 22:11:19.000000 2599 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua' for 'test02.lua'.
[sllidar_node-1] [INFO] [1753625479.623008421] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571
[sllidar_node-1] [INFO] [1753625479.623202237] [sllidar_node]: Firmware Ver: 1.01
[sllidar_node-1] [INFO] [1753625479.623250756] [sllidar_node]: Hardware Rev: 18
[robot_state_publisher-4] [INFO] [1753625479.627887340] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1753625479.628100656] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-4] [INFO] [1753625479.628155323] [robot_state_publisher]: got segment laser_link
[cartographer_node-5] [INFO] [1753625479.636470782] [cartographer logger]: I0727 22:11:19.000000 2599 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-5] [INFO] [1753625479.636777395] [cartographer logger]: I0727 22:11:19.000000 2599 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-5] [INFO] [1753625479.639256114] [cartographer logger]: I0727 22:11:19.000000 2599 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-5] [INFO] [1753625479.639590264] [cartographer logger]: I0727 22:11:19.000000 2599 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-5] [INFO] [1753625479.641418016] [cartographer logger]: I0727 22:11:19.000000 2599 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-5] [INFO] [1753625479.641801222] [cartographer logger]: I0727 22:11:19.000000 2599 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-5] [INFO] [1753625479.644339108] [cartographer logger]: I0727 22:11:19.000000 2599 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-5] [INFO] [1753625479.644610702] [cartographer logger]: I0727 22:11:19.000000 2599 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-5] [INFO] [1753625479.649604677] [cartographer logger]: I0727 22:11:19.000000 2599 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-5] [INFO] [1753625479.649949569] [cartographer logger]: I0727 22:11:19.000000 2599 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[sllidar_node-1] [INFO] [1753625479.674630165] [sllidar_node]: SLLidar health status : 0
[sllidar_node-1] [INFO] [1753625479.674828092] [sllidar_node]: SLLidar health status : OK.
[cartographer_node-5] F0727 22:11:19.673786 2599 lua_parameter_dictionary.cc:399] Check failed: HasKey(key) Key 'collate_landmarks' not in dictionary:
[cartographer_node-5] {
[cartographer_node-5] collate_fixed_frame = true,
[cartographer_node-5] trajectory_builder_2d = {
[cartographer_node-5] adaptive_voxel_filter = {
[cartographer_node-5] max_length = 0.500000,
[cartographer_node-5] max_range = 50.000000,
[cartographer_node-5] min_num_points = 200.000000,
[cartographer_node-5] },
[cartographer_node-5] ceres_scan_matcher = {
[cartographer_node-5] ceres_solver_options = {
[cartographer_node-5] max_num_iterations = 20.000000,
[cartographer_node-5] num_threads = 1.000000,
[cartographer_node-5] use_nonmonotonic_steps = false,
[cartographer_node-5] },
[cartographer_node-5] occupied_space_weight = 1.000000,
[cartographer_node-5] rotation_weight = 40.000000,
[cartographer_node-5] translation_weight = 10.000000,
[cartographer_node-5] },
[cartographer_node-5] imu_gravity_time_constant = 10.000000,
[cartographer_node-5] loop_closure_adaptive_voxel_filter = {
[cartographer_node-5] max_length = 0.900000,
[cartographer_node-5] max_range = 50.000000,
[cartographer_node-5] min_num_points = 100.000000,
[cartographer_node-5] },
[cartographer_node-5] max_range = 8.000000,
[cartographer_node-5] max_z = 2.000000,
[cartographer_node-5] min_range = 0.300000,
[cartographer_node-5] min_z = -0.800000,
[cartographer_node-5] missing_data_ray_length = 1.000000,
[cartographer_node-5] motion_filter = {
[cartographer_node-5] max_angle_radians = 0.017453,
[cartographer_node-5] max_distance_meters = 0.200000,
[cartographer_node-5] max_time_seconds = 5.000000,
[cartographer_node-5] },
[cartographer_node-5] num_accumulated_range_data = 1.000000,
[cartographer_node-5] pose_extrapolator = {
[cartographer_node-5] constant_velocity = {
[cartographer_node-5] imu_gravity_time_constant = 10.000000,
[cartographer_node-5] pose_queue_duration = 0.001000,
[cartographer_node-5] },
[cartographer_node-5] imu_based = {
[cartographer_node-5] gravity_constant = 9.806000,
[cartographer_node-5] imu_acceleration_weight = 1.000000,
[cartographer_node-5] imu_rotation_weight = 1.000000,
[cartographer_node-5] odometry_rotation_weight = 1.000000,
[cartographer_node-5] odometry_translation_weight = 1.000000,
[cartographer_node-5] pose_queue_duration = 5.000000,
[cartographer_node-5] pose_rotation_weight = 1.000000,
[cartographer_node-5] pose_translation_weight = 1.000000,
[cartographer_node-5] solver_options = {
[cartographer_node-5] max_num_iterations = 10.000000,
[cartographer_node-5] num_threads = 1.000000,
[cartographer_node-5] use_nonmonotonic_steps = false,
[cartographer_node-5] },
[cartographer_node-5] },
[cartographer_node-5] use_imu_based = false,
[cartographer_node-5] },
[cartographer_node-5] real_time_correlative_scan_matcher = {
[cartographer_node-5] angular_search_window = 0.349066,
[cartographer_node-5] linear_search_window = 0.100000,
[cartographer_node-5] rotation_delta_cost_weight = 0.100000,
[cartographer_node-5] translation_delta_cost_weight = 10.000000,
[cartographer_node-5] },
[cartographer_node-5] submaps = {
[cartographer_node-5] grid_options_2d = {
[cartographer_node-5] grid_type = "PROBABILITY_GRID",
[cartographer_node-5] resolution = 0.050000,
[cartographer_node-5] },
[cartographer_node-5] num_range_data = 35.000000,
[cartographer_node-5] range_data_inserter = {
[cartographer_node-5] probability_grid_range_data_inserter = {
[cartographer_node-5] hit_probability = 0.550000,
[cartographer_node-5] insert_free_space = true,
[cartographer_node-5] miss_probability = 0.490000,
[cartographer_node-5] },
[cartographer_node-5] range_data_inserter_type = "PROBABILITY_GRID_INSERTER_2D",
[cartographer_node-5] tsdf_range_data_inserter = {
[cartographer_node-5] maximum_weight = 10.000000,
[cartographer_node-5] normal_estimation_options = {
[cartographer_node-5] num_normal_samples = 4.000000,
[cartographer_node-5] sample_radius = 0.500000,
[cartographer_node-5] },
[cartographer_node-5] project_sdf_distance_to_scan_normal = true,
[cartographer_node-5] truncation_distance = 0.300000,
[cartographer_node-5] update_free_space = false,
[cartographer_node-5] update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.500000,
[cartographer_node-5] update_weight_distance_cell_to_hit_kernel_bandwidth = 0.500000,
[cartographer_node-5] update_weight_range_exponent = 0.000000,
[cartographer_node-5] },
[cartographer_node-5] },
[cartographer_node-5] },
[cartographer_node-5] use_imu_data = true,
[cartographer_node-5] use_online_correlative_scan_matching = true,
[cartographer_node-5] voxel_filter_size = 0.025000,
[cartographer_node-5] },
[cartographer_node-5] trajectory_builder_3d = {
[cartographer_node-5] ceres_scan_matcher = {
[cartographer_node-5] ceres_solver_options = {
[cartographer_node-5] max_num_iterations = 12.000000,
[cartographer_node-5] num_threads = 1.000000,
[cartographer_node-5] use_nonmonotonic_steps = false,
[cartographer_node-5] },
[cartographer_node-5] intensity_cost_function_options_0 = {
[cartographer_node-5] huber_scale = 0.300000,
[cartographer_node-5] intensity_threshold = 40.000000,
[cartographer_node-5] weight = 0.500000,
[cartographer_node-5] },
[cartographer_node-5] occupied_space_weight_0 = 1.000000,
[cartographer_node-5] occupied_space_weight_1 = 6.000000,
[cartographer_node-5] only_optimize_yaw = false,
[cartographer_node-5] rotation_weight = 400.000000,
[cartographer_node-5] translation_weight = 5.000000,
[cartographer_node-5] },
[cartographer_node-5] high_resolution_adaptive_voxel_filter = {
[cartographer_node-5] max_length = 2.000000,
[cartographer_node-5] max_range = 15.000000,
[cartographer_node-5] min_num_points = 150.000000,
[cartographer_node-5] },
[cartographer_node-5] imu_gravity_time_constant = 10.000000,
[cartographer_node-5] low_resolution_adaptive_voxel_filter = {
[cartographer_node-5] max_length = 4.000000,
[cartographer_node-5] max_range = 60.000000,
[cartographer_node-5] min_num_points = 200.000000,
[cartographer_node-5] },
[cartographer_node-5] max_range = 60.000000,
[cartographer_node-5] min_range = 1.000000,
[cartographer_node-5] motion_filter = {
[cartographer_node-5] max_angle_radians = 0.004000,
[cartographer_node-5] max_distance_meters = 0.100000,
[cartographer_node-5] max_time_seconds = 0.500000,
[cartographer_node-5] },
[cartographer_node-5] num_accumulated_range_data = 1.000000,
[cartographer_node-5] pose_extrapolator = {
[cartographer_node-5] constant_velocity = {
[cartographer_node-5] imu_gravity_time_constant = 10.000000,
[cartographer_node-5] pose_queue_duration = 0.001000,
[cartographer_node-5] },
[cartographer_node-5] imu_based = {
[cartographer_node-5] gravity_constant = 9.806000,
[cartographer_node-5] imu_acceleration_weight = 1.000000,
[cartographer_node-5] imu_rotation_weight = 1.000000,
[cartographer_node-5] odometry_rotation_weight = 1.000000,
[cartographer_node-5] odometry_translation_weight = 1.000000,
[cartographer_node-5] pose_queue_duration = 5.000000,
[cartographer_node-5] pose_rotation_weight = 1.000000,
[cartographer_node-5] pose_translation_weight = 1.000000,
[cartographer_node-5] solver_options = {
[cartographer_node-5] max_num_iterations = 10.000000,
[cartographer_node-5] num_threads = 1.000000,
[cartographer_node-5] use_nonmonotonic_steps = false,
[cartographer_node-5] },
[cartographer_node-5] },
[cartographer_node-5] use_imu_based = false,
[cartographer_node-5] },
[cartographer_node-5] real_time_correlative_scan_matcher = {
[cartographer_node-5] angular_search_window = 0.017453,
[cartographer_node-5] linear_search_window = 0.150000,
[cartographer_node-5] rotation_delta_cost_weight = 0.100000,
[cartographer_node-5] translation_delta_cost_weight = 0.100000,
[cartographer_node-5] },
[cartographer_node-5] rotational_histogram_size = 120.000000,
[cartographer_node-5] submaps = {
[cartographer_node-5] high_resolution = 0.100000,
[cartographer_node-5] high_resolution_max_range = 20.000000,
[cartographer_node-5] low_resolution = 0.450000,
[cartographer_node-5] num_range_data = 160.000000,
[cartographer_node-5] range_data_inserter = {
[cartographer_node-5] hit_probability = 0.550000,
[cartographer_node-5] intensity_threshold = 40.000000,
[cartographer_node-5] miss_probability = 0.490000,
[cartographer_node-5] num_free_space_voxels = 2.000000,
[cartographer_node-5] },
[cartographer_node-5] },
[cartographer_node-5] use_intensities = false,
[cartographer_node-5] use_online_correlative_scan_matching = false,
[cartographer_node-5] voxel_filter_size = 0.150000,
[cartographer_node-5] },
[cartographer_node-5] }
[cartographer_node-5] [FATAL] [1753625479.677039754] [cartographer logger]: F0727 22:11:19.000000 2599 lua_parameter_dictionary.cc:399] Check failed: HasKey(key) Key 'collate_landmarks' not in dictionary:
[cartographer_node-5] {
[cartographer_node-5] collate_fixed_frame = true,
[cartographer_node-5] trajectory_builder_2d = {
[cartographer_node-5] adaptive_voxel_filter = {
[cartographer_node-5] max_length = 0.500000,
[cartographer_node-5] max_range = 50.000000,
[cartographer_node-5] min_num_points = 200.000000,
[cartographer_node-5] },
[cartographer_node-5] ceres_scan_matcher = {
[cartographer_node-5] ceres_solver_options = {
[cartographer_node-5] max_num_iterations = 20.000000,
[cartographer_node-5] num_threads = 1.000000,
[cartographer_node-5] use_nonmonotonic_steps = false,
[cartographer_node-5] },
[cartographer_node-5] occupied_space_weight = 1.000000,
[cartographer_node-5] rotation_weight = 40.000000,
[cartographer_node-5] translation_weight = 10.000000,
[cartographer_node-5] },
[cartographer_node-5] imu_gravity_time_constant = 10.000000,
[cartographer_node-5] loop_closure_adaptive_voxel_filter = {
[cartographer_node-5] max_length = 0.900000,
[cartographer_node-5] max_range = 50.000000,
[cartographer_node-5] min_num_points = 100.000000,
[cartographer_node-5] },
[cartographer_node-5] max_range = 8.000000,
[cartographer_node-5] max_z = 2.000000,
[cartographer_node-5] min_range = 0.300000,
[cartographer_node-5] min_z = -0.800000,
[cartographer_node-5] missing_data_ray_length = 1.000000,
[cartographer_node-5] motion_filter = {
[cartographer_node-5] max_angle_radians = 0.017453,
[cartographer_node-5] max_distance_meters = 0.200000,
[cartographer_node-5] max_time_seconds = 5.000000,
[cartographer_node-5] },
[cartographer_node-5] num_accumulated_range_data = 1.000000,
[cartographer_node-5] pose_extrapolator = {
[cartographer_node-5] constant_velocity = {
[cartographer_node-5] imu_gravity_time_constant = 10.000000,
[cartographer_node-5] pose_queue_duration = 0.001000,
[cartographer_node-5] },
[cartographer_node-5] imu_based = {
[cartographer_node-5] gravity_constant = 9.806000,
[cartographer_node-5] imu_acceleration_weight = 1.000000,
[cartographer_node-5] imu_rotation_weight = 1.000000,
[cartographer_node-5] odometry_rotation_weight = 1.000000,
[cartographer_node-5] odometry_translation_weight = 1.000000,
[cartographer_node-5] pose_queue_duration = 5.000000,
[cartographer_node-5] pose_rotation_weight = 1.000000,
[cartographer_node-5] pose_translation_weight = 1.000000,
[cartographer_node-5] solver_options = {
[cartographer_node-5] max_num_iterations = 10.000000,
[cartographer_node-5] num_threads = 1.000000,
[cartographer_node-5] use_nonmonotonic_steps = false,
[cartographer_node-5] },
[cartographer_node-5] },
[cartographer_node-5] use_imu_based = false,
[cartographer_node-5] },
[cartographer_node-5] real_time_correlative_scan_matcher = {
[cartographer_node-5] angular_search_window = 0.349066,
[cartographer_node-5] linear_search_window = 0.100000,
[cartographer_node-5] rotation_delta_cost_weight = 0.100000,
[cartographer_node-5] translation_delta_cost_weight = 10.000000,
[cartographer_node-5] },
[cartographer_node-5] submaps = {
[cartographer_node-5] grid_options_2d = {
[cartographer_node-5] grid_type = "PROBABILITY_GRID",
[cartographer_node-5] resolution = 0.050000,
[cartographer_node-5] },
[cartographer_node-5] num_range_data = 35.000000,
[cartographer_node-5] range_data_inserter = {
[cartographer_node-5] probability_grid_range_data_inserter = {
[cartographer_node-5] hit_probability = 0.550000,
[cartographer_node-5] insert_free_space = true,
[cartographer_node-5] miss_probability = 0.490000,
[cartographer_node-5] },
[cartographer_node-5] range_data_inserter_type = "PROBABILITY_GRID_INSERTER_2D",
[cartographer_node-5] tsdf_range_data_inserter = {
[cartographer_node-5] maximum_weight = 10.000000,
[cartographer_node-5] normal_estimation_options = {
[cartographer_node-5] num_normal_samples = 4.000000,
[cartographer_node-5] sample_radius = 0.500000,
[cartographer_node-5] },
[cartographer_node-5] project_sdf_distance_to_scan_normal = true,
[cartographer_node-5] truncation_distance = 0.300000,
[cartographer_node-5] update_free_space = false,
[cartographer_node-5] update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.500000,
[cartographer_node-5] update_weight_distance_cell_to_hit_kernel_bandwidth = 0.500000,
[cartographer_node-5] update_weight_range_exponent = 0.000000,
[cartographer_node-5] },
[cartographer_node-5] },
[cartographer_node-5] },
[cartographer_node-5] use_imu_data = true,
[cartographer_node-5] use_online_correlative_scan_matching = true,
[cartographer_node-5] voxel_filter_size = 0.025000,
[cartographer_node-5] },
[cartographer_node-5] trajectory_builder_3d = {
[cartographer_node-5] ceres_scan_matcher = {
[cartographer_node-5] ceres_solver_options = {
[cartographer_node-5] max_num_iterations = 12.000000,
[cartographer_node-5] num_threads = 1.000000,
[cartographer_node-5] use_nonmonotonic_steps = false,
[cartographer_node-5] },
[cartographer_node-5] intensity_cost_function_options_0 = {
[cartographer_node-5] huber_scale = 0.300000,
[cartographer_node-5] intensity_threshold = 40.000000,
[cartographer_node-5] weight = 0.500000,
[cartographer_node-5] },
[cartographer_node-5] occupied_space_weight_0 = 1.000000,
[cartographer_node-5] occupied_space_weight_1 = 6.000000,
[cartographer_node-5] only_optimize_yaw = false,
[cartographer_node-5] rotation_weight = 400.000000,
[cartographer_node-5] translation_weight = 5.000000,
[cartographer_node-5] },
[cartographer_node-5] high_resolution_adaptive_voxel_filter = {
[cartographer_node-5] max_length = 2.000000,
[cartographer_node-5] max_range = 15.000000,
[cartographer_node-5] min_num_points = 150.000000,
[cartographer_node-5] },
[cartographer_node-5] imu_gravity_time_constant = 10.000000,
[cartographer_node-5] low_resolution_adaptive_voxel_filter = {
[cartographer_node-5] max_length = 4.000000,
[cartographer_node-5] max_range = 60.000000,
[cartographer_node-5] min_num_points = 200.000000,
[cartographer_node-5] },
[cartographer_node-5] max_range = 60.000000,
[cartographer_node-5] min_range = 1.000000,
[cartographer_node-5] motion_filter = {
[cartographer_node-5] max_angle_radians = 0.004000,
[cartographer_node-5] max_distance_meters = 0.100000,
[cartographer_node-5] max_time_seconds = 0.500000,
[cartographer_node-5] },
[cartographer_node-5] num_accumulated_range_data = 1.000000,
[cartographer_node-5] pose_extrapolator = {
[cartographer_node-5] constant_velocity = {
[cartographer_node-5] imu_gravity_time_constant = 10.000000,
[cartographer_node-5] pose_queue_duration = 0.001000,
[cartographer_node-5] },
[cartographer_node-5] imu_based = {
[cartographer_node-5] gravity_constant = 9.806000,
[cartographer_node-5] imu_acceleration_weight = 1.000000,
[cartographer_node-5] imu_rotation_weight = 1.000000,
[cartographer_node-5] odometry_rotation_weight = 1.000000,
[cartographer_node-5] odometry_translation_weight = 1.000000,
[cartographer_node-5] pose_queue_duration = 5.000000,
[cartographer_node-5] pose_rotation_weight = 1.000000,
[cartographer_node-5] pose_translation_weight = 1.000000,
[cartographer_node-5] solver_options = {
[cartographer_node-5] max_num_iterations = 10.000000,
[cartographer_node-5] num_threads = 1.000000,
[cartographer_node-5] use_nonmonotonic_steps = false,
[cartographer_node-5] },
[cartographer_node-5] },
[cartographer_node-5] use_imu_based = false,
[cartographer_node-5] },
[cartographer_node-5] real_time_correlative_scan_matcher = {
[cartographer_node-5] angular_search_window = 0.017453,
[cartographer_node-5] linear_search_window = 0.150000,
[cartographer_node-5] rotation_delta_cost_weight = 0.100000,
[cartographer_node-5] translation_delta_cost_weight = 0.100000,
[cartographer_node-5] },
[cartographer_node-5] rotational_histogram_size = 120.000000,
[cartographer_node-5] submaps = {
[cartographer_node-5] high_resolution = 0.100000,
[cartographer_node-5] high_resolution_max_range = 20.000000,
[cartographer_node-5] low_resolution = 0.450000,
[cartographer_node-5] num_range_data = 160.000000,
[cartographer_node-5] range_data_inserter = {
[cartographer_node-5] hit_probability = 0.550000,
[cartographer_node-5] intensity_threshold = 40.000000,
[cartographer_node-5] miss_probability = 0.490000,
[cartographer_node-5] num_free_space_voxels = 2.000000,
[cartographer_node-5] },
[cartographer_node-5] },
[cartographer_node-5] use_intensities = false,
[cartographer_node-5] use_online_correlative_scan_matching = false,
[cartographer_node-5] voxel_filter_size = 0.150000,
[cartographer_node-5] },
[cartographer_node-5] }
[sllidar_node-1] [INFO] [1753625479.881626554] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz,
[cartographer_node-5] *** Check failure stack trace: ***
[cartographer_node-5] @ 0xffff8957d41c google::LogMessage::Fail()
[cartographer_node-5] @ 0xffff895846d0 google::LogMessage::SendToLog()
[cartographer_node-5] @ 0xffff8957d0f4 google::LogMessage::Flush()
[cartographer_node-5] @ 0xffff8957eebc google::LogMessageFatal::~LogMessageFatal()
[cartographer_node-5] @ 0xaaaae0a4392c (unknown)
[cartographer_node-5] @ 0xaaaae0a4398c (unknown)
[cartographer_node-5] @ 0xaaaae0a43dc8 (unknown)
[cartographer_node-5] @ 0xaaaae0a610a8 (unknown)
[cartographer_node-5] @ 0xaaaae0a2aeec (unknown)
[cartographer_node-5] @ 0xaaaae098743c (unknown)
[cartographer_node-5] @ 0xffff88b673fc (unknown)
[cartographer_node-5] @ 0xffff88b674cc __libc_start_main
[cartographer_node-5] @ 0xaaaae098abf0 (unknown)
[test01-3] Traceback (most recent call last):
[test01-3] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialposix.py", line 322, in open
[test01-3] self.fd = os.open(self.portstr, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
[test01-3] FileNotFoundError: [Errno 2] No such file or directory: '/dev/mcu_usb'
[test01-3]
[test01-3] During handling of the above exception, another exception occurred:
[test01-3]
[test01-3] Traceback (most recent call last):
[test01-3] File "/home/wjs/Drone_Slam/install/fishbot_grapher/lib/fishbot_grapher/test01", line 33, in <module>
[test01-3] sys.exit(load_entry_point('fishbot-grapher', 'console_scripts', 'test01')())
[test01-3] File "/home/wjs/Drone_Slam/build/fishbot_grapher/fishbot_grapher/test01.py", line 101, in main
[test01-3] tf_subscriber = TFSubscriber()
[test01-3] File "/home/wjs/Drone_Slam/build/fishbot_grapher/fishbot_grapher/test01.py", line 20, in __init__
[test01-3] self.ser = serial.Serial("/dev/mcu_usb", 115200)
[test01-3] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialutil.py", line 244, in __init__
[test01-3] self.open()
[test01-3] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialposix.py", line 325, in open
[test01-3] raise SerialException(msg.errno, "could not open port {}: {}".format(self._port, msg))
[test01-3] serial.serialutil.SerialException: [Errno 2] could not open port /dev/mcu_usb: [Errno 2] No such file or directory: '/dev/mcu_usb'
[wit_ros2_imu-2] [INFO] [1753625481.580487048] [imu]: Serial port opening failure
[ERROR] [test01-3]: process has died [pid 2595, exit code 1, cmd '/home/wjs/Drone_Slam/install/fishbot_grapher/lib/fishbot_grapher/test01 --ros-args'].
[ERROR] [cartographer_node-5]: process has died [pid 2599, exit code -6, cmd '/opt/ros/humble/lib/cartographer_ros/cartographer_node -configuration_directory /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config -configuration_basename test02.lua --ros-args -r __node:=cartographer_node --params-file /tmp/launch_params_yg27v8zz'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-4] [INFO] [1753625553.236576891] [rclcpp]: signal_handler(signum=2)
[cartographer_occupancy_grid_node-6] [INFO] [1753625553.236558762] [rclcpp]: signal_handler(signum=2)
[wit_ros2_imu-2] [Errno 2] could not open port /dev/imu_usb: [Errno 2] No such file or directory: '/dev/imu_usb'
[wit_ros2_imu-2] Traceback (most recent call last):
[wit_ros2_imu-2] File "/home/wjs/Drone_Slam/install/wit_ros2_imu/lib/wit_ros2_imu/wit_ros2_imu", line 33, in <module>
[wit_ros2_imu-2] sys.exit(load_entry_point('wit-ros2-imu', 'console_scripts', 'wit_ros2_imu')())
[wit_ros2_imu-2] File "/home/wjs/Drone_Slam/build/wit_ros2_imu/wit_ros2_imu/wit_ros2_imu.py", line 255, in main
[wit_ros2_imu-2] rclpy.shutdown()
[wit_ros2_imu-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown
[wit_ros2_imu-2] _shutdown(context=context)
[wit_ros2_imu-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown
[wit_ros2_imu-2] return context.shutdown()
[wit_ros2_imu-2] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown
[wit_ros2_imu-2] self.__context.shutdown()
[wit_ros2_imu-2] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241
[INFO] [robot_state_publisher-4]: process has finished cleanly [pid 2597]
[sllidar_node-1] [INFO] [1753625553.406896549] [sllidar_node]: Stop motor
[INFO] [cartographer_occupancy_grid_node-6]: process has finished cleanly [pid 2601]
[INFO] [sllidar_node-1]: process has finished cleanly [pid 2591]
[ERROR] [wit_ros2_imu-2]: process has died [pid 2593, exit code 1, cmd '/home/wjs/Drone_Slam/install/wit_ros2_imu/lib/wit_ros2_imu/wit_ros2_imu --ros-args -r __node:=imu --params-file /tmp/launch_params_q_c1mppz --params-file /tmp/launch_params_l7ygftd2 -r /imu/data_raw:=/imu'].
wjs@wjs-desktop:~/Drone_Slam$ colcon build
Starting >>> fishbot_grapher
Starting >>> sllidar_ros2
Starting >>> wit_ros2_imu
Finished <<< sllidar_ros2 [5.40s]
Finished <<< wit_ros2_imu [8.86s]
Finished <<< fishbot_grapher [9.06s]
Summary: 3 packages finished [10.4s]
wjs@wjs-desktop:~/Drone_Slam$ source install/setup.bash
wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_3.launch.py
[INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-07-27-22-25-35-537992-wjs-desktop-3152
[INFO] [launch]: Default logging verbosity is set to INFO
pkg_share =/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher<==
model_path =/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/urdf/fishbot_base.urdf<==
[INFO] [sllidar_node-1]: process started with pid [3153]
[INFO] [wit_ros2_imu-2]: process started with pid [3155]
[INFO] [test01-3]: process started with pid [3157]
[INFO] [robot_state_publisher-4]: process started with pid [3159]
[INFO] [cartographer_node-5]: process started with pid [3161]
[INFO] [cartographer_occupancy_grid_node-6]: process started with pid [3163]
[robot_state_publisher-4] [WARN] [1753626336.040041438] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.
[sllidar_node-1] [INFO] [1753626336.071977191] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0
[robot_state_publisher-4] [INFO] [1753626336.100785245] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1753626336.104276519] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-4] [INFO] [1753626336.104355223] [robot_state_publisher]: got segment laser_link
[sllidar_node-1] [INFO] [1753626336.128666313] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571
[sllidar_node-1] [INFO] [1753626336.128911518] [sllidar_node]: Firmware Ver: 1.01
[sllidar_node-1] [INFO] [1753626336.128986370] [sllidar_node]: Hardware Rev: 18
[sllidar_node-1] [INFO] [1753626336.180413857] [sllidar_node]: SLLidar health status : 0
[sllidar_node-1] [INFO] [1753626336.180596654] [sllidar_node]: SLLidar health status : OK.
[cartographer_node-5] [INFO] [1753626336.281292175] [cartographer logger]: I0727 22:25:36.000000 3161 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua' for 'test02.lua'.
[cartographer_node-5] [INFO] [1753626336.283327647] [cartographer logger]: I0727 22:25:36.000000 3161 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-5] [INFO] [1753626336.283578000] [cartographer logger]: I0727 22:25:36.000000 3161 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-5] [INFO] [1753626336.283954928] [cartographer logger]: I0727 22:25:36.000000 3161 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-5] [INFO] [1753626336.284191040] [cartographer logger]: I0727 22:25:36.000000 3161 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-5] [INFO] [1753626336.284990858] [cartographer logger]: I0727 22:25:36.000000 3161 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-5] [INFO] [1753626336.285372526] [cartographer logger]: I0727 22:25:36.000000 3161 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-5] [INFO] [1753626336.285955548] [cartographer logger]: I0727 22:25:36.000000 3161 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-5] [INFO] [1753626336.286234790] [cartographer logger]: I0727 22:25:36.000000 3161 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-5] [INFO] [1753626336.287159905] [cartographer logger]: I0727 22:25:36.000000 3161 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-5] [INFO] [1753626336.287512443] [cartographer logger]: I0727 22:25:36.000000 3161 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-5] [INFO] [1753626336.375617593] [cartographer logger]: I0727 22:25:36.000000 3161 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
[sllidar_node-1] [INFO] [1753626336.386128547] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz,
[wit_ros2_imu-2] [INFO] [1753626337.723514017] [imu]: Serial port opening failure
[test01-3] Traceback (most recent call last):
[test01-3] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialposix.py", line 322, in open
[test01-3] self.fd = os.open(self.portstr, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
[test01-3] FileNotFoundError: [Errno 2] No such file or directory: '/dev/mcu_usb'
[test01-3]
[test01-3] During handling of the above exception, another exception occurred:
[test01-3]
[test01-3] Traceback (most recent call last):
[test01-3] File "/home/wjs/Drone_Slam/install/fishbot_grapher/lib/fishbot_grapher/test01", line 33, in <module>
[test01-3] sys.exit(load_entry_point('fishbot-grapher==0.0.0', 'console_scripts', 'test01')())
[test01-3] File "/home/wjs/Drone_Slam/build/fishbot_grapher/fishbot_grapher/test01.py", line 101, in main
[test01-3] tf_subscriber = TFSubscriber()
[test01-3] File "/home/wjs/Drone_Slam/build/fishbot_grapher/fishbot_grapher/test01.py", line 20, in __init__
[test01-3] self.ser = serial.Serial("/dev/mcu_usb", 115200)
[test01-3] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialutil.py", line 244, in __init__
[test01-3] self.open()
[test01-3] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialposix.py", line 325, in open
[test01-3] raise SerialException(msg.errno, "could not open port {}: {}".format(self._port, msg))
[test01-3] serial.serialutil.SerialException: [Errno 2] could not open port /dev/mcu_usb: [Errno 2] No such file or directory: '/dev/mcu_usb'
[ERROR] [test01-3]: process has died [pid 3157, exit code 1, cmd '/home/wjs/Drone_Slam/install/fishbot_grapher/lib/fishbot_grapher/test01 --ros-args'].
最新发布
本文探讨了轨迹规划和参数优化在控制系统中的应用，包括动态规划提供闭环解和适用于任意初始状态的特点，以及在高维空间中的轨迹优化。提到了间接法与直接法的优缺点，如射击法和正交多项式配点法，并讨论了多相位法和接触优化在处理复杂系统轨迹问题上的效用。同时，介绍了开源库PSOPT和非线性规划库IPOPT在解决这些问题中的作用。
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