[求助]关于在rplidar使用cartogrpher算法建模时踩坑

本人安装cartographer环境时是参考此文而操作的

Rplidar学习（五）—— rplidar使用cartographer_ros进行地图云生成 - Blue Mountain - 博客园

前面都基本没有报错（就是source zsh文件source不了改成source bash文件）

运行到

roslaunch cartographer_ros demo_revo_lds.launch

 

出现错误

... logging to /home/s/.ros/log/1fb7221a-8439-11ec-b929-0800279897b1/roslaunch-s-VirtualBox-2660.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://s-VirtualBox:35779/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /use_sim_time: True

NODES
  /
    cartographer_node (cartographer_ros/cartographer_node)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[cartographer_node-1]: started with pid [2677]
process[rviz-2]: started with pid [2678]
[ INFO] [1643814152.467886614]: I0202 23:02:32.000000  2677 configuration_file_resolver.cc:40] Found '/home/s/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files/revo_lds.lua' for 'revo_lds.lua'.
F0202 23:02:32.468850  2677 lua_parameter_dictionary.cc:83] Check failed: status == 0 (2 vs. 0) [string "options = {..."]:57: attempt to index global 'MAP_BUILDER' (a nil value)
[FATAL] [1643814152.469285801]: F0202 23:02:32.000000  2677 lua_parameter_dictionary.cc:83] Check failed: status == 0 (2 vs. 0) [string "options = {..."]:57: attempt to index global 'MAP_BUILDER' (a nil value)
*** Check failure stack trace: ***
    @     0x7f51040865cd  google::LogMessage::Fail()
    @     0x7f5104088433  google::LogMessage::SendToLog()
    @     0x7f510408615b  google::LogMessage::Flush()
    @     0x7f5104088e1e  google::LogMessageFatal::~LogMessageFatal()
    @           0x556bf6  cartographer::common::(anonymous namespace)::CheckForLuaErrors()
    @           0x557527  cartographer::common::LuaParameterDictionary::LuaParameterDictionary()
    @           0x55791e  cartographer::common::LuaParameterDictionary::LuaParameterDictionary()
    @           0x4ec41b  cartographer_ros::(anonymous namespace)::Run()
    @           0x4e6704  main
    @     0x7f5102613840  __libc_start_main
    @           0x4e7829  _start
    @              (nil)  (unknown)
[cartographer_node-1] process has died [pid 2677, exit code -6, cmd /home/s/catkin_ws/devel/lib/cartographer_ros/cartographer_node -configuration_directory /home/s/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files -configuration_basename revo_lds.lua scan:=scan __name:=cartographer_node __log:=/home/s/.ros/log/1fb7221a-8439-11ec-b929-0800279897b1/cartographer_node-1.log].
log file: /home/s/.ros/log/1fb7221a-8439-11ec-b929-0800279897b1/cartographer_node-1*.log

请各位大神相助，帮一帮小萌新，十分感激