cartographer建图时报Could not compute submap fading: Could not find a connection between ‘map‘ and ‘base

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已于 2024-03-06 16:51:52 修改

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分类专栏： ros 文章标签： cartographer map base_link submap not

于 2024-03-06 16:29:54 首次发布

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cartographer建图时报Could not compute submap fading: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees

Could not compute submap fading: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees."

：这个错误表明在TF (Transform)树中，'map' 和 'base_link' 之间缺少连接。这可能是由于 TF 树的配置问题导致的，或者可能是由于传感器配置问题导致的。

正确的tf：

错误的tf：

可以看到map与base_link直接缺少tf链接。这里需要在配置文件中把这个 “provide_odom_frame = true,--是否提供里程坐标系 “ 参数设置为true；

具体配置文件：a_ros1_backpack_2d_imu_odom.lua

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