window下Ceres-solver配置

本文档介绍了在Windows上配置Ceres Solver的一种简便方法,通过GitHub仓库ceres-windows进行安装,适用于VS2013。详细步骤包括克隆仓库、生成解决方案、设置预处理器定义以及解决编译和运行时遇到的问题,如标识符M_PI未定义和fopen不安全的警告。

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2021-08-02更新:此博文写于2019-04-29,现在才在草稿箱发现,如果方法不具备时效性,我也不知道怎么解决!


在网上看了很多Ceres在windows下的配置教程,一般都是下载Ceres源码以及其依赖Eigen、gflag、glog,然后整合起来cmake。看这些教程评论区出现了各种问题,我就没有尝试。

记录一下在官网给出的另外一种配置方法,亲测成功。

我尝试的办法配置起来较为简单,用到了这个仓库:https://github.com/tbennun/ceres-windows

git clone https://github.com/tbennun/ceres-windows.git
cd ceres-windows
git submodule update --init --recursive

如果git在clone时出现443连接超时错误:原因是需要科学上网,可以自行百度。

ok,git clone下来之后,里面有三个完整版块,ceres-solver、Eigen、glog。和三个vs文件:ceres-2010.sln,ceres-2012.sln,ceres-2015.sln。由于我是vs2013,因此选择打开ceres-2012.sln,如果需要迁移,让vs自动完成。然后对下面3个项目,右键,生成。

生成完之后,ceres-windows文件夹下会多出Win32文件夹。

由于使用的是glog的静态库libglog_static.lib,所以配置的时候要在项目

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/2025-07-27-21-44-14-611581-wjs-desktop-3511 [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 [3512] [INFO] [wit_ros2_imu-2]: process started with pid [3514] [INFO] [test01-3]: process started with pid [3516] [INFO] [robot_state_publisher-4]: process started with pid [3518] [INFO] [cartographer_node-5]: process started with pid [3520] [INFO] [cartographer_occupancy_grid_node-6]: process started with pid [3528] [sllidar_node-1] [INFO] [1753623855.053473670] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0 [robot_state_publisher-4] [WARN] [1753623855.060580496] [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. [robot_state_publisher-4] [INFO] [1753623855.094832372] [robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1753623855.095034876] [robot_state_publisher]: got segment imu_link [robot_state_publisher-4] [INFO] [1753623855.095085164] [robot_state_publisher]: got segment laser_link [sllidar_node-1] [INFO] [1753623855.109755054] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571 [sllidar_node-1] [INFO] [1753623855.109953948] [sllidar_node]: Firmware Ver: 1.01 [sllidar_node-1] [INFO] [1753623855.110013734] [sllidar_node]: Hardware Rev: 18 [sllidar_node-1] [INFO] [1753623855.161457399] [sllidar_node]: SLLidar health status : 0 [sllidar_node-1] [INFO] [1753623855.161700711] [sllidar_node]: SLLidar health status : OK. [cartographer_node-5] [INFO] [1753623855.329700319] [cartographer logger]: I0727 21:44:15.000000 3520 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] [1753623855.331169076] [cartographer logger]: I0727 21:44:15.000000 3520 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-5] [INFO] [1753623855.331564029] [cartographer logger]: I0727 21:44:15.000000 3520 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-5] [INFO] [1753623855.334823472] [cartographer logger]: I0727 21:44:15.000000 3520 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-5] [INFO] [1753623855.335258474] [cartographer logger]: I0727 21:44:15.000000 3520 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-5] [INFO] [1753623855.336206744] [cartographer logger]: I0727 21:44:15.000000 3520 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-5] [INFO] [1753623855.336478199] [cartographer logger]: I0727 21:44:15.000000 3520 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-5] [INFO] [1753623855.336887520] [cartographer logger]: I0727 21:44:15.000000 3520 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] [1753623855.337144200] [cartographer logger]: I0727 21:44:15.000000 3520 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] [1753623855.338000725] [cartographer logger]: I0727 21:44:15.000000 3520 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] [1753623855.338301971] [cartographer logger]: I0727 21:44:15.000000 3520 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] F0727 21:44:15.343778 3520 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] [1753623855.349454665] [cartographer logger]: F0727 21:44:15.000000 3520 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] [1753623855.378131908] [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] @ 0xffff8223d41c google::LogMessage::Fail() [cartographer_node-5] @ 0xffff822446d0 google::LogMessage::SendToLog() [cartographer_node-5] @ 0xffff8223d0f4 google::LogMessage::Flush() [cartographer_node-5] @ 0xffff8223eebc google::LogMessageFatal::~LogMessageFatal() [cartographer_node-5] @ 0xaaaad44c392c (unknown) [cartographer_node-5] @ 0xaaaad44c398c (unknown) [cartographer_node-5] @ 0xaaaad44c3dc8 (unknown) [cartographer_node-5] @ 0xaaaad44e10a8 (unknown) [cartographer_node-5] @ 0xaaaad44aaeec (unknown) [cartographer_node-5] @ 0xaaaad440743c (unknown) [cartographer_node-5] @ 0xffff818273fc (unknown) [cartographer_node-5] @ 0xffff818274cc __libc_start_main [cartographer_node-5] @ 0xaaaad440abf0 (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==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' [wit_ros2_imu-2] [INFO] [1753623857.378557163] [imu]: Serial port opening failure [ERROR] [test01-3]: process has died [pid 3516, 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 3520, 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_i_dk6w5r'].
最新发布
07-28
<think>我们正在处理一个ROS2启动问题,涉及多个节点失败。主要错误包括: 1. Cartographer节点:在Lua配置中缺少键`collate_landmarks`。 2. test01节点:串口设备`/dev/mcu_usb`不存在。 3. sllidar_node:雷达操作超时(SL_RESULT_OPERATION_TIMEOUT)。 我们将逐一解决这些问题。 ### 一、解决Cartographer配置错误(Key 'collate_landmarks' not found) Cartographer在加载配置文件时,要求`TRAJECTORY_BUILDER_2D`(或3D)中必须包含`collate_landmarks`键。这个键控制是否对地标(landmarks)进行整理(排序)。在较新的Cartographer版本中,这个键是必需的。 **解决方法:** 1. 打开Cartographer的Lua配置文件(位于`/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua`)。 2. 在`TRAJECTORY_BUILDER_2D`部分(或`TRAJECTORY_BUILDER_3D`,根据你使用的配置)添加以下行: ```lua collate_landmarks = false, ``` 例如,修改后的配置片段如下: ```lua TRAJECTORY_BUILDER_2D = { collate_landmarks = false, -- 添加这一行 adaptive_voxel_filter = { max_length = 0.5, max_range = 50, min_num_points = 200, }, -- 其他原有配置... } ``` 注意:`collate_landmarks`通常设置为`false`,除非你使用了地标传感器。 ### 二、解决串口设备`/dev/mcu_usb`不存在的问题 `test01`节点尝试打开设备`/dev/mcu_usb`失败,因为该设备文件不存在。这通常是因为设备未连接、驱动未加载或udev规则未设置。 **解决方法:** 1. **检查设备连接:** - 确保设备(如STM32单片机)已通过USB连接到计算机。 - 运行以下命令查看设备是否被识别: ```bash ls /dev/ttyACM* /dev/ttyUSB* ``` 如果设备存在,通常会在`/dev/ttyACM0`或`/dev/ttyUSB0`等位置。 2. **创建符号链接(可选但推荐):** - 使用udev规则创建固定的符号链接`/dev/mcu_usb`,这样即使设备重新插拔,链接也会指向正确的设备。 - 创建udev规则文件: ```bash sudo nano /etc/udev/rules.d/99-mcu.rules ``` - 添加以下内容(假设设备是STMicroelectronics的,ID为`0483:5740`): ```udev SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", SYMLINK+="mcu_usb" ``` 注意:请先用`lsusb`命令确认设备的ID,然后替换上述ID。 - 重新加载udev规则: ```bash sudo udevadm control --reload sudo udevadm trigger ``` - 重新插拔设备,检查`/dev/mcu_usb`是否存在。 3. **修改代码(备选):** - 如果不想使用udev规则,可以直接修改`test01.py`中的串口设备路径: ```python self.ser = serial.Serial("/dev/ttyACM0", 115200) # 替换为实际设备 ``` ### 三、解决SLLidar超时错误(SL_RESULT_OPERATION_TIMEOUT) 雷达节点`sllidar_node`报告超时错误,通常是因为无法与雷达通信。可能原因包括: - 雷达未上电或USB连接不良。 - 串口权限问题。 - 启动文件中指定的串口设备路径错误。 **解决方法:** 1. **检查硬件连接:** - 确保雷达已正确供电(部分雷达需要独立电源,USB供电可能不足)。 - 检查USB线是否完好。 2. **检查串口权限:** - 将用户加入`dialout`组以获取串口访问权限: ```bash sudo usermod -aG dialout $USER newgrp dialout # 立即生效,无需重新登录 ``` 3. **检查启动文件配置:** - 打开雷达节点的启动配置(可能在launch文件中),确认`serial_port`参数是否正确。例如,雷达通常连接在`/dev/ttyUSB0`: ```python Node( package='sllidar_ros2', executable='sllidar_node', parameters=[{ 'serial_port': '/dev/ttyUSB0', # 确保与物理连接一致 'serial_baudrate': 115200, 'frame_id': 'laser_link' }] ) ``` - 如果雷达连接在`/dev/ttyUSB1`或其他端口,请相应修改。 4. **测试串口通信:** - 使用`minicom`测试雷达串口: ```bash sudo apt install minicom minicom -D /dev/ttyUSB0 -b 115200 ``` 如果看到乱码数据流,说明连接正常;如果无响应,检查硬件。 ### 完整修复步骤 1. 修改Cartographer的Lua配置文件,添加`collate_landmarks = false`。 2. 设置udev规则创建`/dev/mcu_usb`,或修改`test01.py`中的串口路径。 3. 检查并修复雷达连接问题,调整启动文件中的雷达串口设置。 4. 重新启动系统或重新插拔所有USB设备。 5. 重新运行启动命令: ```bash ros2 launch fishbot_grapher test_grapher_3.launch.py ``` ### 相关问题 1. 如何在ROS2中配置Cartographer的Lua文件? 2. ROS2中如何管理串口设备的权限? 3. 如何为特定USB设备创建固定的符号链接? [^1]: 参考了环境变量设置对Gazebo启动的影响。 [^2]: 参考了Python版本冲突导致ROS命令失败的问题。 [^3]: 参考了网络连接问题导致Git操作失败的解决方法。 [^4]: 参考了SSL证书问题导致Git错误的解决方法。</think>### 解决ROS2 SLAM启动错误综合方案 #### 一、解决Cartographer配置错误(Key 'collate_landmarks' not found) 1. **修改Lua配置文件** ```lua -- 在test02.lua中添加缺失参数 TRAJECTORY_BUILDER_2D = { collate_landmarks = false, -- 添加此行解决字典检查失败 adaptive_voxel_filter = { max_length = 0.5, -- 其他原有参数保持不变... }, -- 其余配置... } ``` - `collate_landmarks`控制地标数据处理方式,设为`false`允许非确定性但非阻塞的方法[^1] - 确保配置文件路径正确:`/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua` 2. **检查参数继承关系** ```lua include "trajectory_builder_2d.lua" -- 确保继承基础配置 TRAJECTORY_BUILDER_2D.collate_landmarks = false -- 覆盖特定参数 ``` 使用`ros2 param describe /cartographer_node`验证节点参数结构 #### 二、解决串口设备`/dev/mcu_usb`不存在 1. **创建永久udev规则** ```bash # 识别设备ID lsusb | grep "STMicroelectronics" # 输出示例: ID 0483:5740 STMicroelectronics STM32 Virtual ComPort # 创建规则文件 echo 'SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", SYMLINK+="mcu_usb", MODE="0666"' | sudo tee /etc/udev/rules.d/99-mcu.rules # 重新加载规则 sudo udevadm control --reload sudo udevadm trigger ``` 重新插拔设备后检查`ls -l /dev/mcu_usb`确认符号链接 2. **修改Python串口代码** ```python # 在test01.py中添加异常处理 import serial try: self.ser = serial.Serial("/dev/mcu_usb", 115200, timeout=1) except serial.SerialException: # 尝试备用设备路径 self.ser = serial.Serial("/dev/ttyACM0", 115200, timeout=1) ``` #### 三、解决SLLidar超时错误(SL_RESULT_OPERATION_TIMEOUT) 1. **验证雷达连接与权限** ```bash # 检查设备存在性 ls /dev/ttyUSB* # 添加用户到dialout组 sudo usermod -aG dialout $USER && newgrp dialout ``` 2. **更新雷达节点配置** ```python # 在launch文件中确保参数正确 Node( package='sllidar_ros2', parameters=[{ 'serial_port': '/dev/ttyUSB0', # 与实际设备一致 'serial_baudrate': 115200, 'frame_id': 'laser_link' }] ) ``` 3. **硬件诊断** ```bash # 测试原始串口通信 stty -F /dev/ttyUSB0 115200 raw cat /dev/ttyUSB0 | hexdump -C ``` 正常应输出雷达原始数据流,无数据则检查电源/USB线 ### 完整解决方案流程 ```mermaid graph TD A[启动准备] --> B[检查所有USB设备连接] B --> C[验证udev规则配置] C --> D[测试串口原始通信] D --> E{通信正常?} E -->|否| F[更换USB端口/线缆] E -->|是| G[修改Lua配置文件] G --> H[添加collate_landmarks参数] H --> I[设置串口硬件流控制] I --> J[重新启动系统] J --> K[监控调试日志] ``` **验证步骤**: ```bash # 加载新配置 source ~/Drone_Slam/install/setup.bash # 启动前重置USB sudo udevadm control --reload ros2 launch fishbot_grapher test_grapher_3.launch.py ``` > **注意**:如果使用虚拟机,需确保USB设备已正确透传给虚拟机。对于WSL2用户,需在Windows端安装[usbipd-win](https://github.com/dorssel/usbipd-win)并转发设备。 ### 相关问题 1. 如何为ROS2设备创建稳定的符号链接? 2. Cartographer中如何配置多传感器融合? 3. ROS2串口通信中RTS/CTS流控制的作用是什么? [^1]: 参考了环境变量设置对Gazebo启动的影响 [^2]: 参考了Python版本冲突导致ROS命令失败的问题 [^3]: 参考了网络连接问题导致Git操作失败的解决方法 [^4]: 参考了SSL证书问题导致Git错误的解决方法
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