ACE之port scan

本文介绍了一种使用Proactor框架实现的异步端口扫描方法。通过创建PortScanner类并利用ACE库,可以并发地尝试连接目标主机上的多个端口,并在连接成功或失败时接收通知。

在Proactor框架下通过异步连接的方式对要扫描的端口进行连接,从而查看端口的状态

 

#include "stdafx.h"


#include <ace/Log_Msg.h>
#include <ace/INET_Addr.h>
#include <ace/OS.h>
#include <ace/Proactor.h>
#include <ace/WIN32_Proactor.h>

class PortScanner : public ACE_Handler
{
public:

    PortScanner()
    {
    }

    int open(ACE_Proactor& proactor, const ACE_INET_Addr& remote_addr)
    {
        this->proactor(&proactor);
        this->remote_addr_.set(remote_addr);

        if (connect_.open(*this, ACE_INVALID_HANDLE, 0, this->proactor()) < 0)
        {
            return -1;
        }

        return connect_.connect(ACE_INVALID_HANDLE, remote_addr_, ACE_Addr::sap_any, 1);
    }

    void handle_connect(const ACE_Asynch_Connect::Result &result)
    {
        //This handler will be called if connection is established or RST is received,
        //You may no get any response in a timely manner even if there is no firewall.

        ACE_ASSERT(result.connect_handle () != ACE_INVALID_HANDLE);

        if (result.success())
        {
            //Connection is established
            ACE_DEBUG((LM_NOTICE, "%s:%d is open/n",
                remote_addr_.get_host_addr(),
                remote_addr_.get_port_number()));
        }
        else
        {
            //Got a RST
            //ACE_DEBUG((LM_NOTICE, "%s:%d is not open/n",
            //    remote_addr_.get_host_addr(),
            //    remote_addr_.get_port_number()));
        }
    }

private:
    ACE_INET_Addr remote_addr_;
    ACE_Asynch_Connect connect_;
};

int ACE_TMAIN(int /*argc*/, ACE_TCHAR** /*argv*/)
{
    ACE_Proactor proactor;
    ACE_INET_Addr scan_target("127.0.0.1:0");

    //Asynchronous connection are simulated on Both Windows and Unix
    //(C++NP v2 page 283, sidebar 57 is inaccurate).
    //Since ACE_Select_reactor is used internally, the handles limit
    //applies. You can either increase the limit(1024 by default), or
    //simply do not register too much handles simultaneously.
    unsigned short start_port = 1;
    unsigned short end_port = 1024;

    ACE_ASSERT(end_port > start_port);
    const size_t size = end_port - start_port + 1;

    //'size' is not const expression so we can not create the array on stack
    PortScanner* portscanners = new PortScanner[size];

    for (unsigned short i = start_port; i < end_port; ++i)
    {
        scan_target.set_port_number(i);
        portscanners[i].open(proactor, scan_target);
    }

    //Run event loop for 10 seconds
    ACE_DEBUG((LM_NOTICE, ACE_TEXT("Portscan started/n")));
    ACE_Time_Value timeout(10);
    proactor.proactor_run_event_loop(timeout);

    //delete[] portscanners;
    ACE_DEBUG((LM_NOTICE, ACE_TEXT("Portscan ended/n")));

    ACE_OS::sleep(10);
    return 0;
}

 

vs2005下编译通过。

[INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ldlidar-1]: process started with pid [15427] [INFO] [static_transform_publisher-2]: process started with pid [15429] [INFO] [cartographer_node-3]: process started with pid [15431] [INFO] [cartographer_occupancy_grid_node-4]: process started with pid [15433] [ldlidar-1] [INFO] [1763038059.187611175] [rclcpp]: Using port /dev/ttyUSB0 [ldlidar-1] [INFO] [1763038059.187726982] [rclcpp]: LiDAR_LD06 started successfully [static_transform_publisher-2] [INFO] [1763038059.188207187] [static_transform_publisher_ftaCOqre9ghey78j]: Spinning until stopped - publishing transform [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-2] from 'base_link' to 'laser' [cartographer_node-3] [INFO] [1763038059.199601261] [cartographer logger]: I1113 20:47:39.000000 15431 configuration_file_resolver.cc:41] Found '/home/michael/ros2_ws/install/ldlidar-ros2/share/ldlidar-ros2/configuration_files/mylaser.lua' for 'mylaser.lua'. [cartographer_node-3] [INFO] [1763038059.200177820] [cartographer logger]: I1113 20:47:39.000000 15431 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-3] [INFO] [1763038059.200197413] [cartographer logger]: I1113 20:47:39.000000 15431 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-3] [INFO] [1763038059.200339857] [cartographer logger]: I1113 20:47:39.000000 15431 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-3] [INFO] [1763038059.200346358] [cartographer logger]: I1113 20:47:39.000000 15431 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-3] [INFO] [1763038059.200466435] [cartographer logger]: I1113 20:47:39.000000 15431 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-3] [INFO] [1763038059.200473333] [cartographer logger]: I1113 20:47:39.000000 15431 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-3] [INFO] [1763038059.200556552] [cartographer logger]: I1113 20:47:39.000000 15431 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-3] [INFO] [1763038059.200562403] [cartographer logger]: I1113 20:47:39.000000 15431 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-3] [INFO] [1763038059.200685653] [cartographer logger]: I1113 20:47:39.000000 15431 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-3] [INFO] [1763038059.200691488] [cartographer logger]: I1113 20:47:39.000000 15431 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-3] F1113 20:47:39.201540 15431 lua_parameter_dictionary.cc:399] Check failed: HasKey(key) Key 'rangefinder_sampling_ratio' not in dictionary: [cartographer_node-3] { [cartographer_node-3] lookup_transform_timeout_sec = 0.200000, [cartographer_node-3] map_builder = { [cartographer_node-3] collate_by_trajectory = false, [cartographer_node-3] num_background_threads = 4.000000, [cartographer_node-3] pose_graph = { [cartographer_node-3] constraint_builder = { [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = true, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight = 20.000000, [cartographer_node-3] rotation_weight = 1.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] ceres_scan_matcher_3d = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight_0 = 5.000000, [cartographer_node-3] occupied_space_weight_1 = 30.000000, [cartographer_node-3] only_optimize_yaw = false, [cartographer_node-3] rotation_weight = 1.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] fast_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.523599, [cartographer_node-3] branch_and_bound_depth = 7.000000, [cartographer_node-3] linear_search_window = 7.000000, [cartographer_node-3] }, [cartographer_node-3] fast_correlative_scan_matcher_3d = { [cartographer_node-3] angular_search_window = 0.261799, [cartographer_node-3] branch_and_bound_depth = 8.000000, [cartographer_node-3] full_resolution_depth = 3.000000, [cartographer_node-3] linear_xy_search_window = 5.000000, [cartographer_node-3] linear_z_search_window = 1.000000, [cartographer_node-3] min_low_resolution_score = 0.550000, [cartographer_node-3] min_rotational_score = 0.770000, [cartographer_node-3] }, [cartographer_node-3] global_localization_min_score = 0.600000, [cartographer_node-3] log_matches = true, [cartographer_node-3] loop_closure_rotation_weight = 100000.000000, [cartographer_node-3] loop_closure_translation_weight = 11000.000000, [cartographer_node-3] max_constraint_distance = 15.000000, [cartographer_node-3] min_score = 0.650000, [cartographer_node-3] sampling_ratio = 0.300000, [cartographer_node-3] }, [cartographer_node-3] global_constraint_search_after_n_seconds = 10.000000, [cartographer_node-3] global_sampling_ratio = 0.003000, [cartographer_node-3] log_residual_histograms = true, [cartographer_node-3] matcher_rotation_weight = 1600.000000, [cartographer_node-3] matcher_translation_weight = 500.000000, [cartographer_node-3] max_num_final_iterations = 200.000000, [cartographer_node-3] optimization_problem = { [cartographer_node-3] acceleration_weight = 110.000000, [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 50.000000, [cartographer_node-3] num_threads = 7.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] fix_z_in_3d = false, [cartographer_node-3] fixed_frame_pose_rotation_weight = 100.000000, [cartographer_node-3] fixed_frame_pose_tolerant_loss_param_a = 1.000000, [cartographer_node-3] fixed_frame_pose_tolerant_loss_param_b = 1.000000, [cartographer_node-3] fixed_frame_pose_translation_weight = 10.000000, [cartographer_node-3] fixed_frame_pose_use_tolerant_loss = false, [cartographer_node-3] huber_scale = 100.000000, [cartographer_node-3] local_slam_pose_rotation_weight = 100000.000000, [cartographer_node-3] local_slam_pose_translation_weight = 100000.000000, [cartographer_node-3] log_solver_summary = false, [cartographer_node-3] odometry_rotation_weight = 100000.000000, [cartographer_node-3] odometry_translation_weight = 100000.000000, [cartographer_node-3] rotation_weight = 16000.000000, [cartographer_node-3] use_online_imu_extrinsics_in_3d = true, [cartographer_node-3] }, [cartographer_node-3] optimize_every_n_nodes = 35.000000, [cartographer_node-3] }, [cartographer_node-3] use_trajectory_builder_2d = true, [cartographer_node-3] use_trajectory_builder_3d = false, [cartographer_node-3] }, [cartographer_node-3] map_frame = "map", [cartographer_node-3] num_laser_scans = 1.000000, [cartographer_node-3] num_multi_echo_laser_scans = 0.000000, [cartographer_node-3] num_point_clouds = 0.000000, [cartographer_node-3] num_subdivisions_per_laser_scan = 1.000000, [cartographer_node-3] odom_frame = "odom", [cartographer_node-3] pose_publish_period_sec = 0.005000, [cartographer_node-3] provide_odom_frame = false, [cartographer_node-3] publish_frame_projected_to_2d = false, [cartographer_node-3] published_frame = "laser", [cartographer_node-3] submap_publish_period_sec = 0.300000, [cartographer_node-3] tracking_frame = "laser", [cartographer_node-3] trajectory_builder = { [cartographer_node-3] collate_fixed_frame = true, [cartographer_node-3] collate_landmarks = false, [cartographer_node-3] trajectory_builder_2d = { [cartographer_node-3] adaptive_voxel_filter = { [cartographer_node-3] max_length = 0.500000, [cartographer_node-3] max_range = 50.000000, [cartographer_node-3] min_num_points = 200.000000, [cartographer_node-3] }, [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 20.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight = 1.000000, [cartographer_node-3] rotation_weight = 40.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] loop_closure_adaptive_voxel_filter = { [cartographer_node-3] max_length = 0.900000, [cartographer_node-3] max_range = 50.000000, [cartographer_node-3] min_num_points = 100.000000, [cartographer_node-3] }, [cartographer_node-3] max_range = 12.000000, [cartographer_node-3] max_z = 2.000000, [cartographer_node-3] min_range = 0.100000, [cartographer_node-3] min_z = -0.800000, [cartographer_node-3] missing_data_ray_length = 5.000000, [cartographer_node-3] motion_filter = { [cartographer_node-3] max_angle_radians = 0.017453, [cartographer_node-3] max_distance_meters = 0.200000, [cartographer_node-3] max_time_seconds = 5.000000, [cartographer_node-3] }, [cartographer_node-3] num_accumulated_range_data = 1.000000, [cartographer_node-3] pose_extrapolator = { [cartographer_node-3] constant_velocity = { [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] pose_queue_duration = 0.001000, [cartographer_node-3] }, [cartographer_node-3] imu_based = { [cartographer_node-3] gravity_constant = 9.806000, [cartographer_node-3] imu_acceleration_weight = 1.000000, [cartographer_node-3] imu_rotation_weight = 1.000000, [cartographer_node-3] odometry_rotation_weight = 1.000000, [cartographer_node-3] odometry_translation_weight = 1.000000, [cartographer_node-3] pose_queue_duration = 5.000000, [cartographer_node-3] pose_rotation_weight = 1.000000, [cartographer_node-3] pose_translation_weight = 1.000000, [cartographer_node-3] solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_based = false, [cartographer_node-3] }, [cartographer_node-3] real_time_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.349066, [cartographer_node-3] linear_search_window = 0.100000, [cartographer_node-3] rotation_delta_cost_weight = 0.100000, [cartographer_node-3] translation_delta_cost_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] submaps = { [cartographer_node-3] grid_options_2d = { [cartographer_node-3] grid_type = "PROBABILITY_GRID", [cartographer_node-3] resolution = 0.050000, [cartographer_node-3] }, [cartographer_node-3] num_range_data = 35.000000, [cartographer_node-3] range_data_inserter = { [cartographer_node-3] probability_grid_range_data_inserter = { [cartographer_node-3] hit_probability = 0.550000, [cartographer_node-3] insert_free_space = true, [cartographer_node-3] miss_probability = 0.490000, [cartographer_node-3] }, [cartographer_node-3] range_data_inserter_type = "PROBABILITY_GRID_INSERTER_2D", [cartographer_node-3] tsdf_range_data_inserter = { [cartographer_node-3] maximum_weight = 10.000000, [cartographer_node-3] normal_estimation_options = { [cartographer_node-3] num_normal_samples = 4.000000, [cartographer_node-3] sample_radius = 0.500000, [cartographer_node-3] }, [cartographer_node-3] project_sdf_distance_to_scan_normal = true, [cartographer_node-3] truncation_distance = 0.300000, [cartographer_node-3] update_free_space = false, [cartographer_node-3] update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.500000, [cartographer_node-3] update_weight_distance_cell_to_hit_kernel_bandwidth = 0.500000, [cartographer_node-3] update_weight_range_exponent = 0.000000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_data = false, [cartographer_node-3] use_online_correlative_scan_matching = true, [cartographer_node-3] voxel_filter_size = 0.025000, [cartographer_node-3] }, [cartographer_node-3] trajectory_builder_3d = { [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 12.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] intensity_cost_function_options_0 = { [cartographer_node-3] huber_scale = 0.300000, [cartographer_node-3] intensity_threshold = 40.000000, [cartographer_node-3] weight = 0.500000, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight_0 = 1.000000, [cartographer_node-3] occupied_space_weight_1 = 6.000000, [cartographer_node-3] only_optimize_yaw = false, [cartographer_node-3] rotation_weight = 400.000000, [cartographer_node-3] translation_weight = 5.000000, [cartographer_node-3] }, [cartographer_node-3] high_resolution_adaptive_voxel_filter = { [cartographer_node-3] max_length = 2.000000, [cartographer_node-3] max_range = 15.000000, [cartographer_node-3] min_num_points = 150.000000, [cartographer_node-3] }, [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] low_resolution_adaptive_voxel_filter = { [cartographer_node-3] max_length = 4.000000, [cartographer_node-3] max_range = 60.000000, [cartographer_node-3] min_num_points = 200.000000, [cartographer_node-3] }, [cartographer_node-3] max_range = 60.000000, [cartographer_node-3] min_range = 1.000000, [cartographer_node-3] motion_filter = { [cartographer_node-3] max_angle_radians = 0.004000, [cartographer_node-3] max_distance_meters = 0.100000, [cartographer_node-3] max_time_seconds = 0.500000, [cartographer_node-3] }, [cartographer_node-3] num_accumulated_range_data = 1.000000, [cartographer_node-3] pose_extrapolator = { [cartographer_node-3] constant_velocity = { [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] pose_queue_duration = 0.001000, [cartographer_node-3] }, [cartographer_node-3] imu_based = { [cartographer_node-3] gravity_constant = 9.806000, [cartographer_node-3] imu_acceleration_weight = 1.000000, [cartographer_node-3] imu_rotation_weight = 1.000000, [cartographer_node-3] odometry_rotation_weight = 1.000000, [cartographer_node-3] odometry_translation_weight = 1.000000, [cartographer_node-3] pose_queue_duration = 5.000000, [cartographer_node-3] pose_rotation_weight = 1.000000, [cartographer_node-3] pose_translation_weight = 1.000000, [cartographer_node-3] solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_based = false, [cartographer_node-3] }, [cartographer_node-3] real_time_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.017453, [cartographer_node-3] linear_search_window = 0.150000, [cartographer_node-3] rotation_delta_cost_weight = 0.100000, [cartographer_node-3] translation_delta_cost_weight = 0.100000, [cartographer_node-3] }, [cartographer_node-3] rotational_histogram_size = 120.000000, [cartographer_node-3] submaps = { [cartographer_node-3] high_resolution = 0.100000, [cartographer_node-3] high_resolution_max_range = 20.000000, [cartographer_node-3] low_resolution = 0.450000, [cartographer_node-3] num_range_data = 160.000000, [cartographer_node-3] range_data_inserter = { [cartographer_node-3] hit_probability = 0.550000, [cartographer_node-3] intensity_threshold = 40.000000, [cartographer_node-3] miss_probability = 0.490000, [cartographer_node-3] num_free_space_voxels = 2.000000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_intensities = false, [cartographer_node-3] use_online_correlative_scan_matching = false, [cartographer_node-3] voxel_filter_size = 0.150000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] trajectory_publish_period_sec = 0.030000, [cartographer_node-3] use_landmarks = false, [cartographer_node-3] use_nav_sat = false, [cartographer_node-3] use_odometry = false, [cartographer_node-3] use_pose_extrapolator = false, [cartographer_node-3] } [cartographer_node-3] [FATAL] [1763038059.201849458] [cartographer logger]: F1113 20:47:39.000000 15431 lua_parameter_dictionary.cc:399] Check failed: HasKey(key) Key 'rangefinder_sampling_ratio' not in dictionary: [cartographer_node-3] { [cartographer_node-3] lookup_transform_timeout_sec = 0.200000, [cartographer_node-3] map_builder = { [cartographer_node-3] collate_by_trajectory = false, [cartographer_node-3] num_background_threads = 4.000000, [cartographer_node-3] pose_graph = { [cartographer_node-3] constraint_builder = { [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = true, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight = 20.000000, [cartographer_node-3] rotation_weight = 1.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] ceres_scan_matcher_3d = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight_0 = 5.000000, [cartographer_node-3] occupied_space_weight_1 = 30.000000, [cartographer_node-3] only_optimize_yaw = false, [cartographer_node-3] rotation_weight = 1.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] fast_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.523599, [cartographer_node-3] branch_and_bound_depth = 7.000000, [cartographer_node-3] linear_search_window = 7.000000, [cartographer_node-3] }, [cartographer_node-3] fast_correlative_scan_matcher_3d = { [cartographer_node-3] angular_search_window = 0.261799, [cartographer_node-3] branch_and_bound_depth = 8.000000, [cartographer_node-3] full_resolution_depth = 3.000000, [cartographer_node-3] linear_xy_search_window = 5.000000, [cartographer_node-3] linear_z_search_window = 1.000000, [cartographer_node-3] min_low_resolution_score = 0.550000, [cartographer_node-3] min_rotational_score = 0.770000, [cartographer_node-3] }, [cartographer_node-3] global_localization_min_score = 0.600000, [cartographer_node-3] log_matches = true, [cartographer_node-3] loop_closure_rotation_weight = 100000.000000, [cartographer_node-3] loop_closure_translation_weight = 11000.000000, [cartographer_node-3] max_constraint_distance = 15.000000, [cartographer_node-3] min_score = 0.650000, [cartographer_node-3] sampling_ratio = 0.300000, [cartographer_node-3] }, [cartographer_node-3] global_constraint_search_after_n_seconds = 10.000000, [cartographer_node-3] global_sampling_ratio = 0.003000, [cartographer_node-3] log_residual_histograms = true, [cartographer_node-3] matcher_rotation_weight = 1600.000000, [cartographer_node-3] matcher_translation_weight = 500.000000, [cartographer_node-3] max_num_final_iterations = 200.000000, [cartographer_node-3] optimization_problem = { [cartographer_node-3] acceleration_weight = 110.000000, [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 50.000000, [cartographer_node-3] num_threads = 7.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] fix_z_in_3d = false, [cartographer_node-3] fixed_frame_pose_rotation_weight = 100.000000, [cartographer_node-3] fixed_frame_pose_tolerant_loss_param_a = 1.000000, [cartographer_node-3] fixed_frame_pose_tolerant_loss_param_b = 1.000000, [cartographer_node-3] fixed_frame_pose_translation_weight = 10.000000, [cartographer_node-3] fixed_frame_pose_use_tolerant_loss = false, [cartographer_node-3] huber_scale = 100.000000, [cartographer_node-3] local_slam_pose_rotation_weight = 100000.000000, [cartographer_node-3] local_slam_pose_translation_weight = 100000.000000, [cartographer_node-3] log_solver_summary = false, [cartographer_node-3] odometry_rotation_weight = 100000.000000, [cartographer_node-3] odometry_translation_weight = 100000.000000, [cartographer_node-3] rotation_weight = 16000.000000, [cartographer_node-3] use_online_imu_extrinsics_in_3d = true, [cartographer_node-3] }, [cartographer_node-3] optimize_every_n_nodes = 35.000000, [cartographer_node-3] }, [cartographer_node-3] use_trajectory_builder_2d = true, [cartographer_node-3] use_trajectory_builder_3d = false, [cartographer_node-3] }, [cartographer_node-3] map_frame = "map", [cartographer_node-3] num_laser_scans = 1.000000, [cartographer_node-3] num_multi_echo_laser_scans = 0.000000, [cartographer_node-3] num_point_clouds = 0.000000, [cartographer_node-3] num_subdivisions_per_laser_scan = 1.000000, [cartographer_node-3] odom_frame = "odom", [cartographer_node-3] pose_publish_period_sec = 0.005000, [cartographer_node-3] provide_odom_frame = false, [cartographer_node-3] publish_frame_projected_to_2d = false, [cartographer_node-3] published_frame = "laser", [cartographer_node-3] submap_publish_period_sec = 0.300000, [cartographer_node-3] tracking_frame = "laser", [cartographer_node-3] trajectory_builder = { [cartographer_node-3] collate_fixed_frame = true, [cartographer_node-3] collate_landmarks = false, [cartographer_node-3] trajectory_builder_2d = { [cartographer_node-3] adaptive_voxel_filter = { [cartographer_node-3] max_length = 0.500000, [cartographer_node-3] max_range = 50.000000, [cartographer_node-3] min_num_points = 200.000000, [cartographer_node-3] }, [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 20.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight = 1.000000, [cartographer_node-3] rotation_weight = 40.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] loop_closure_adaptive_voxel_filter = { [cartographer_node-3] max_length = 0.900000, [cartographer_node-3] max_range = 50.000000, [cartographer_node-3] min_num_points = 100.000000, [cartographer_node-3] }, [cartographer_node-3] max_range = 12.000000, [cartographer_node-3] max_z = 2.000000, [cartographer_node-3] min_range = 0.100000, [cartographer_node-3] min_z = -0.800000, [cartographer_node-3] missing_data_ray_length = 5.000000, [cartographer_node-3] motion_filter = { [cartographer_node-3] max_angle_radians = 0.017453, [cartographer_node-3] max_distance_meters = 0.200000, [cartographer_node-3] max_time_seconds = 5.000000, [cartographer_node-3] }, [cartographer_node-3] num_accumulated_range_data = 1.000000, [cartographer_node-3] pose_extrapolator = { [cartographer_node-3] constant_velocity = { [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] pose_queue_duration = 0.001000, [cartographer_node-3] }, [cartographer_node-3] imu_based = { [cartographer_node-3] gravity_constant = 9.806000, [cartographer_node-3] imu_acceleration_weight = 1.000000, [cartographer_node-3] imu_rotation_weight = 1.000000, [cartographer_node-3] odometry_rotation_weight = 1.000000, [cartographer_node-3] odometry_translation_weight = 1.000000, [cartographer_node-3] pose_queue_duration = 5.000000, [cartographer_node-3] pose_rotation_weight = 1.000000, [cartographer_node-3] pose_translation_weight = 1.000000, [cartographer_node-3] solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_based = false, [cartographer_node-3] }, [cartographer_node-3] real_time_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.349066, [cartographer_node-3] linear_search_window = 0.100000, [cartographer_node-3] rotation_delta_cost_weight = 0.100000, [cartographer_node-3] translation_delta_cost_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] submaps = { [cartographer_node-3] grid_options_2d = { [cartographer_node-3] grid_type = "PROBABILITY_GRID", [cartographer_node-3] resolution = 0.050000, [cartographer_node-3] }, [cartographer_node-3] num_range_data = 35.000000, [cartographer_node-3] range_data_inserter = { [cartographer_node-3] probability_grid_range_data_inserter = { [cartographer_node-3] hit_probability = 0.550000, [cartographer_node-3] insert_free_space = true, [cartographer_node-3] miss_probability = 0.490000, [cartographer_node-3] }, [cartographer_node-3] range_data_inserter_type = "PROBABILITY_GRID_INSERTER_2D", [cartographer_node-3] tsdf_range_data_inserter = { [cartographer_node-3] maximum_weight = 10.000000, [cartographer_node-3] normal_estimation_options = { [cartographer_node-3] num_normal_samples = 4.000000, [cartographer_node-3] sample_radius = 0.500000, [cartographer_node-3] }, [cartographer_node-3] project_sdf_distance_to_scan_normal = true, [cartographer_node-3] truncation_distance = 0.300000, [cartographer_node-3] update_free_space = false, [cartographer_node-3] update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.500000, [cartographer_node-3] update_weight_distance_cell_to_hit_kernel_bandwidth = 0.500000, [cartographer_node-3] update_weight_range_exponent = 0.000000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_data = false, [cartographer_node-3] use_online_correlative_scan_matching = true, [cartographer_node-3] voxel_filter_size = 0.025000, [cartographer_node-3] }, [cartographer_node-3] trajectory_builder_3d = { [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 12.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] intensity_cost_function_options_0 = { [cartographer_node-3] huber_scale = 0.300000, [cartographer_node-3] intensity_threshold = 40.000000, [cartographer_node-3] weight = 0.500000, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight_0 = 1.000000, [cartographer_node-3] occupied_space_weight_1 = 6.000000, [cartographer_node-3] only_optimize_yaw = false, [cartographer_node-3] rotation_weight = 400.000000, [cartographer_node-3] translation_weight = 5.000000, [cartographer_node-3] }, [cartographer_node-3] high_resolution_adaptive_voxel_filter = { [cartographer_node-3] max_length = 2.000000, [cartographer_node-3] max_range = 15.000000, [cartographer_node-3] min_num_points = 150.000000, [cartographer_node-3] }, [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] low_resolution_adaptive_voxel_filter = { [cartographer_node-3] max_length = 4.000000, [cartographer_node-3] max_range = 60.000000, [cartographer_node-3] min_num_points = 200.000000, [cartographer_node-3] }, [cartographer_node-3] max_range = 60.000000, [cartographer_node-3] min_range = 1.000000, [cartographer_node-3] motion_filter = { [cartographer_node-3] max_angle_radians = 0.004000, [cartographer_node-3] max_distance_meters = 0.100000, [cartographer_node-3] max_time_seconds = 0.500000, [cartographer_node-3] }, [cartographer_node-3] num_accumulated_range_data = 1.000000, [cartographer_node-3] pose_extrapolator = { [cartographer_node-3] constant_velocity = { [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] pose_queue_duration = 0.001000, [cartographer_node-3] }, [cartographer_node-3] imu_based = { [cartographer_node-3] gravity_constant = 9.806000, [cartographer_node-3] imu_acceleration_weight = 1.000000, [cartographer_node-3] imu_rotation_weight = 1.000000, [cartographer_node-3] odometry_rotation_weight = 1.000000, [cartographer_node-3] odometry_translation_weight = 1.000000, [cartographer_node-3] pose_queue_duration = 5.000000, [cartographer_node-3] pose_rotation_weight = 1.000000, [cartographer_node-3] pose_translation_weight = 1.000000, [cartographer_node-3] solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_based = false, [cartographer_node-3] }, [cartographer_node-3] real_time_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.017453, [cartographer_node-3] linear_search_window = 0.150000, [cartographer_node-3] rotation_delta_cost_weight = 0.100000, [cartographer_node-3] translation_delta_cost_weight = 0.100000, [cartographer_node-3] }, [cartographer_node-3] rotational_histogram_size = 120.000000, [cartographer_node-3] submaps = { [cartographer_node-3] high_resolution = 0.100000, [cartographer_node-3] high_resolution_max_range = 20.000000, [cartographer_node-3] low_resolution = 0.450000, [cartographer_node-3] num_range_data = 160.000000, [cartographer_node-3] range_data_inserter = { [cartographer_node-3] hit_probability = 0.550000, [cartographer_node-3] intensity_threshold = 40.000000, [cartographer_node-3] miss_probability = 0.490000, [cartographer_node-3] num_free_space_voxels = 2.000000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_intensities = false, [cartographer_node-3] use_online_correlative_scan_matching = false, [cartographer_node-3] voxel_filter_size = 0.150000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] trajectory_publish_period_sec = 0.030000, [cartographer_node-3] use_landmarks = false, [cartographer_node-3] use_nav_sat = false, [cartographer_node-3] use_odometry = false, [cartographer_node-3] use_pose_extrapolator = false, [cartographer_node-3] } [cartographer_node-3] *** Check failure stack trace: *** [cartographer_node-3] @ 0x77439608db03 google::LogMessage::Fail() [cartographer_node-3] @ 0x7743960959d1 google::LogMessage::SendToLog() [cartographer_node-3] @ 0x77439608d7c2 google::LogMessage::Flush() [cartographer_node-3] @ 0x77439608f78f google::LogMessageFatal::~LogMessageFatal() [cartographer_node-3] @ 0x58318646ace7 (unknown) [cartographer_node-3] @ 0x58318646ad66 (unknown) [cartographer_node-3] @ 0x58318646aff3 (unknown) [cartographer_node-3] @ 0x5831864511d4 (unknown) [cartographer_node-3] @ 0x5831863b77b3 (unknown) [cartographer_node-3] @ 0x774395029d90 (unknown) [cartographer_node-3] @ 0x774395029e40 __libc_start_main [cartographer_node-3] @ 0x5831863bad35 (unknown) [ERROR] [cartographer_node-3]: process has died [pid 15431, exit code -6, cmd '/opt/ros/humble/lib/cartographer_ros/cartographer_node -configuration_directory /home/michael/ros2_ws/install/ldlidar-ros2/share/ldlidar-ros2/configuration_files -configuration_basename mylaser.lua --ros-args --params-file /tmp/launch_params_0_aev13x -r scan:=scan'].
11-14
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