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/2025-07-27-21-26-18-750077-wjs-desktop-2603
[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 [2604]
[INFO] [wit_ros2_imu-2]: process started with pid [2606]
[INFO] [test01-3]: process started with pid [2608]
[INFO] [robot_state_publisher-4]: process started with pid [2610]
[INFO] [cartographer_node-5]: process started with pid [2612]
[INFO] [cartographer_occupancy_grid_node-6]: process started with pid [2616]
[sllidar_node-1] [INFO] [1753622779.123428206] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0
[sllidar_node-1] [ERROR] [1753622779.166949150] [sllidar_node]: Error, operation time out. SL_RESULT_OPERATION_TIMEOUT!
[ERROR] [sllidar_node-1]: process has died [pid 2604, exit code 255, cmd '/home/wjs/Drone_Slam/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node --ros-args -r __node:=sllidar_node --params-file /tmp/launch_params_09et7i92'].
[robot_state_publisher-4] [WARN] [1753622779.340852788] [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] [1753622779.403618429] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1753622779.404146730] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-4] [INFO] [1753622779.404233622] [robot_state_publisher]: got segment laser_link
[cartographer_node-5] [INFO] [1753622779.592485766] [cartographer logger]: I0727 21:26:19.000000 2612 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] [1753622779.600612764] [cartographer logger]: I0727 21:26:19.000000 2612 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-5] [INFO] [1753622779.600914554] [cartographer logger]: I0727 21:26:19.000000 2612 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-5] [INFO] [1753622779.602523216] [cartographer logger]: I0727 21:26:19.000000 2612 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-5] [INFO] [1753622779.602795339] [cartographer logger]: I0727 21:26:19.000000 2612 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-5] [INFO] [1753622779.604405038] [cartographer logger]: I0727 21:26:19.000000 2612 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-5] [INFO] [1753622779.604828741] [cartographer logger]: I0727 21:26:19.000000 2612 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-5] [INFO] [1753622779.606033589] [cartographer logger]: I0727 21:26:19.000000 2612 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] [1753622779.606329861] [cartographer logger]: I0727 21:26:19.000000 2612 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] [1753622779.607970765] [cartographer logger]: I0727 21:26:19.000000 2612 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] [1753622779.608301075] [cartographer logger]: I0727 21:26:19.000000 2612 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 21:26:19.623965 2612 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] [1753622779.626704366] [cartographer logger]: F0727 21:26:19.000000 2612 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] *** Check failure stack trace: ***
[cartographer_node-5] @ 0xffff861dd41c google::LogMessage::Fail()
[cartographer_node-5] @ 0xffff861e46d0 google::LogMessage::SendToLog()
[cartographer_node-5] @ 0xffff861dd0f4 google::LogMessage::Flush()
[cartographer_node-5] @ 0xffff861deebc google::LogMessageFatal::~LogMessageFatal()
[cartographer_node-5] @ 0xaaaadf20392c (unknown)
[cartographer_node-5] @ 0xaaaadf20398c (unknown)
[cartographer_node-5] @ 0xaaaadf203dc8 (unknown)
[cartographer_node-5] @ 0xaaaadf2210a8 (unknown)
[cartographer_node-5] @ 0xaaaadf1eaeec (unknown)
[cartographer_node-5] @ 0xaaaadf14743c (unknown)
[cartographer_node-5] @ 0xffff857c73fc (unknown)
[cartographer_node-5] @ 0xffff857c74cc __libc_start_main
[cartographer_node-5] @ 0xaaaadf14abf0 (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] [1753622781.380078547] [imu]: Serial port opening failure
[ERROR] [test01-3]: process has died [pid 2608, 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 2612, 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_clup20by'].
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