[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'].