Points on the line CF---940A

探讨了如何通过删除部分点使剩余点集的最大距离差不超过指定值的问题,并提供了一个有效的算法实现。

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A. Points on the line

We've got no test cases. A big olympiad is coming up. But the problemsetters' number one priority should be adding another problem to the round.

The diameter of a multiset of points on the line is the largest distance between two points from this set. For example, the diameter of the multiset {1, 3, 2, 1} is 2.

Diameter of multiset consisting of one point is 0.

You are given n points on the line. What is the minimum number of points you have to remove, so that the diameter of the multiset of the remaining points will not exceed d?

Input

The first line contains two integers n and d (1 ≤ n ≤ 100, 0 ≤ d ≤ 100) — the amount of points and the maximum allowed diameter respectively.

The second line contains n space separated integers (1 ≤ xi ≤ 100) — the coordinates of the points.

Output

Output a single integer — the minimum number of points you have to remove.

Examples
input
Copy
3 1
2 1 4
output
1
input
Copy
3 0
7 7 7
output
0
input
Copy
6 3
1 3 4 6 9 10
output
3

题意:给你n个数,和一个k,这n个数的最大差值不能超过k,问你最少需要删除几个数满足要求。

思路:逆向思维,只需找符合要求的最大长度,用n减去这个最大长度就是需要删除的个数。由于一定是连续的,所以n^2枚举。

#include <iostream>
#include <bits/stdc++.h>

using namespace std;

int main()
{
    int a[105],n,d,mx=-1;
    cin>>n>>d;
    for(int i=0;i<n;i++)
    cin>>a[i];
    sort(a,a+n);
    for(int i=0;i<n;i++)
    {
      for(int j=i;j<n;j++)
      {
         if(a[j]-a[i]<=d)
         {
           mx=max(mx,j-i+1);
         }
      }
    }
    cout<<n-mx<<endl;
    return 0;
}

wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_11.launch.py [INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-07-31-22-36-21-063785-wjs-desktop-3401 [INFO] [launch]: Default logging verbosity is set to INFO URDF路径: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/urdf/fishbot_base.urdf 配置文件目录: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config [INFO] [sllidar_node-1]: process started with pid [3402] [INFO] [ahrs_driver_node-2]: process started with pid [3404] [INFO] [robot_state_publisher-3]: process started with pid [3406] [INFO] [cartographer_node-4]: process started with pid [3408] [INFO] [cartographer_occupancy_grid_node-5]: process started with pid [3410] [INFO] [test01-6]: process started with pid [3414] [sllidar_node-1] [INFO] [1753972581.986391243] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0 [robot_state_publisher-3] [WARN] [1753972581.996475307] [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. [cartographer_node-4] [INFO] [1753972582.011709333] [cartographer logger]: I0731 22:36:21.000000 3408 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua' for 'test02.lua'. [cartographer_node-4] [INFO] [1753972582.013333071] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972582.013688304] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972582.014082280] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972582.014301028] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972582.015024162] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972582.015279911] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972582.015654423] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-4] [INFO] [1753972582.015846540] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-4] [INFO] [1753972582.034546103] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-4] [INFO] [1753972582.038440599] [cartographer logger]: I0731 22:36:22.000000 3408 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [sllidar_node-1] [INFO] [1753972582.070328993] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571 [sllidar_node-1] [INFO] [1753972582.070517165] [sllidar_node]: Firmware Ver: 1.01 [sllidar_node-1] [INFO] [1753972582.070583316] [sllidar_node]: Hardware Rev: 18 [sllidar_node-1] [INFO] [1753972582.123145614] [sllidar_node]: SLLidar health status : 0 [sllidar_node-1] [INFO] [1753972582.123298397] [sllidar_node]: SLLidar health status : OK. [robot_state_publisher-3] [INFO] [1753972582.128163423] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1753972582.128332151] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1753972582.128406172] [robot_state_publisher]: got segment laser_link [ahrs_driver_node-2] [INFO] [1753972582.202092222] [ahrs_bringup]: Serial Port initialized [ahrs_driver_node-2] [INFO] [1753972582.203306613] [ahrs_bringup]: ahrsBringup::processLoop: start [cartographer_node-4] [INFO] [1753972582.244303392] [cartographer logger]: I0731 22:36:22.000000 3408 map_builder_bridge.cpp:136] Added trajectory with ID '0'. [sllidar_node-1] [INFO] [1753972582.352471345] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz, [test01-6] [INFO] [1753972583.505330257] [tf_subscriber]: 串口初始化成功: /dev/esp [cartographer_node-4] [INFO] [1753972584.271857380] [cartographer logger]: I0731 22:36:24.000000 3408 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638895693842687326'. [cartographer_node-4] [INFO] [1753972584.273126717] [cartographer logger]: I0731 22:36:24.000000 3408 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing. [cartographer_node-4] [INFO] [1753972584.375924905] [cartographer logger]: I0731 22:36:24.000000 3408 pose_graph_2d.cc:148] Inserted submap (0, 0). [cartographer_node-4] [WARN] [1753972584.473750823] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 209 earlier points. [cartographer_node-4] [WARN] [1753972584.480935739] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 1994 earlier points. [cartographer_node-4] [WARN] [1753972584.595685181] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 2392 earlier points. [cartographer_node-4] [WARN] [1753972584.722220687] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 2428 earlier points. [cartographer_node-4] [WARN] [1753972584.869288389] [cartographer logger]: W0731 22:36:24.000000 3408 range_data_collator.cc:82] Dropped 2631 earlier points. [cartographer_node-4] [WARN] [1753972585.062024964] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 2666 earlier points. [cartographer_node-4] [WARN] [1753972585.299729464] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 2647 earlier points. [cartographer_node-4] [WARN] [1753972585.621127465] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 2785 earlier points. [cartographer_node-4] [WARN] [1753972585.652920412] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 537 earlier points. [cartographer_node-4] [WARN] [1753972585.662334584] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 332 earlier points. [cartographer_node-4] [WARN] [1753972585.691437481] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 10 earlier points. [cartographer_node-4] [WARN] [1753972585.742905096] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 595 earlier points. [cartographer_node-4] [WARN] [1753972585.795619066] [cartographer logger]: W0731 22:36:25.000000 3408 range_data_collator.cc:82] Dropped 501 earlier points. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-3] [INFO] [1753972586.729521375] [rclcpp]: signal_handler(signum=2) [cartographer_occupancy_grid_node-5] [INFO] [1753972586.729486818] [rclcpp]: signal_handler(signum=2) [ahrs_driver_node-2] [INFO] [1753972586.730259954] [rclcpp]: signal_handler(signum=2) [cartographer_node-4] [INFO] [1753972586.731881654] [rclcpp]: signal_handler(signum=2) [cartographer_node-4] [INFO] [1753972586.762551805] [cartographer logger]: I0731 22:36:26.000000 3408 node.cpp:569] Shutdown the subscriber of [scan] [cartographer_node-4] [INFO] [1753972586.765307783] [cartographer logger]: I0731 22:36:26.000000 3408 node.cpp:569] Shutdown the subscriber of [imu] [cartographer_node-4] [INFO] [1753972586.765400804] [cartographer logger]: I0731 22:36:26.000000 3408 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'... [cartographer_node-4] [WARN] [1753972586.766412615] [cartographer logger]: W0731 22:36:26.000000 3408 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now. [cartographer_node-4] [INFO] [1753972586.766522507] [cartographer logger]: I0731 22:36:26.000000 3408 node.cpp:551] Trajectory 0 already pending to finish. [cartographer_node-4] [INFO] [1753972586.766569212] [cartographer logger]: I0731 22:36:26.000000 3408 map_builder_bridge.cpp:161] Running final trajectory optimization... [cartographer_node-4] [INFO] [1753972586.766686623] [cartographer logger]: I0731 22:36:26.000000 3461 pose_graph_2d.cc:538] Remaining work items in queue: 0 [cartographer_node-4] [INFO] [1753972586.766820776] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972586.766862277] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [test01-6] [INFO] [1753972586.769791297] [tf_subscriber]: 用户中断,退出节点 [test01-6] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 [cartographer_node-4] [WARN] [1753972586.792771590] [cartographer logger]: W0731 22:36:26.000000 3461 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972586.808681453] [cartographer logger]: I0731 22:36:26.000000 3461 pose_graph_2d.cc:538] Remaining work items in queue: 1 [cartographer_node-4] [INFO] [1753972586.808851254] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972586.808900163] [cartographer logger]: I0731 22:36:26.000000 3461 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [cartographer_node-4] [WARN] [1753972586.836843523] [cartographer logger]: W0731 22:36:26.000000 3461 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972586.844830224] [cartographer logger]: I0731 22:36:26.000000 3460 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972586.844950321] [cartographer logger]: I0731 22:36:26.000000 3460 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [INFO] [ahrs_driver_node-2]: process has finished cleanly [pid 3404] [cartographer_node-4] [INFO] [1753972587.040705270] [cartographer logger]: I0731 22:36:27.000000 3462 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972587.040867757] [cartographer logger]: I0731 22:36:27.000000 3462 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 3406] [INFO] [cartographer_occupancy_grid_node-5]: process has finished cleanly [pid 3410] [INFO] [cartographer_node-4]: process has finished cleanly [pid 3408] [INFO] [test01-6]: process has finished cleanly [pid 3414] [sllidar_node-1] [INFO] [1753972587.955950183] [sllidar_node]: Stop motor [INFO] [sllidar_node-1]: process has finished cleanly [pid 3402] wjs@wjs-desktop:~/Drone_Slam$ ^C wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_11.launch.py [INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-07-31-22-42-04-880679-wjs-desktop-3490 [INFO] [launch]: Default logging verbosity is set to INFO URDF路径: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/urdf/fishbot_base.urdf 配置文件目录: /home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config [INFO] [sllidar_node-1]: process started with pid [3491] [INFO] [ahrs_driver_node-2]: process started with pid [3493] [INFO] [robot_state_publisher-3]: process started with pid [3495] [INFO] [cartographer_node-4]: process started with pid [3497] [INFO] [cartographer_occupancy_grid_node-5]: process started with pid [3500] [INFO] [test01-6]: process started with pid [3518] [sllidar_node-1] [INFO] [1753972925.292018354] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0 [sllidar_node-1] [INFO] [1753972925.341420338] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571 [sllidar_node-1] [INFO] [1753972925.341625562] [sllidar_node]: Firmware Ver: 1.01 [sllidar_node-1] [INFO] [1753972925.341712796] [sllidar_node]: Hardware Rev: 18 [sllidar_node-1] [INFO] [1753972925.394365205] [sllidar_node]: SLLidar health status : 0 [sllidar_node-1] [INFO] [1753972925.394585558] [sllidar_node]: SLLidar health status : OK. [robot_state_publisher-3] [WARN] [1753972925.439404039] [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-3] [INFO] [1753972925.462492726] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1753972925.462650546] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1753972925.462684655] [robot_state_publisher]: got segment laser_link [sllidar_node-1] [INFO] [1753972926.001498187] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz, [cartographer_node-4] [INFO] [1753972926.381159918] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/test02.lua' for 'test02.lua'. [cartographer_node-4] [INFO] [1753972926.387582813] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972926.387886344] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-4] [INFO] [1753972926.401111512] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972926.404937484] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-4] [INFO] [1753972926.406829278] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972926.407115588] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-4] [INFO] [1753972926.407520389] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-4] [INFO] [1753972926.407731965] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ahrs_driver_node-2] [INFO] [1753972926.413443343] [ahrs_bringup]: Serial Port initialized [ahrs_driver_node-2] [INFO] [1753972926.413877419] [ahrs_bringup]: ahrsBringup::processLoop: start [cartographer_node-4] [INFO] [1753972926.413688027] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-4] [INFO] [1753972926.414655616] [cartographer logger]: I0731 22:42:06.000000 3497 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-4] [INFO] [1753972926.539480363] [cartographer logger]: I0731 22:42:06.000000 3497 map_builder_bridge.cpp:136] Added trajectory with ID '0'. [test01-6] [INFO] [1753972927.276279155] [tf_subscriber]: 串口初始化成功: /dev/esp [cartographer_node-4] [INFO] [1753972927.937685537] [cartographer logger]: I0731 22:42:07.000000 3497 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638895697279334551'. [cartographer_node-4] [INFO] [1753972927.938687865] [cartographer logger]: I0731 22:42:07.000000 3497 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing. [cartographer_node-4] [INFO] [1753972928.041921183] [cartographer logger]: I0731 22:42:08.000000 3497 pose_graph_2d.cc:148] Inserted submap (0, 0). [cartographer_node-4] [WARN] [1753972928.155580796] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2204 earlier points. [cartographer_node-4] [WARN] [1753972928.266892465] [cartographer logger]: W0731 22:42:08.000000 3497 sensor_bridge.cpp:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 638895697282633349 is not before current subdivision time 638895697282613324 [cartographer_node-4] [WARN] [1753972928.267554931] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 15 earlier points. [cartographer_node-4] [WARN] [1753972928.411221081] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2181 earlier points. [cartographer_node-4] [WARN] [1753972928.567551008] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 20 earlier points. [cartographer_node-4] [WARN] [1753972928.574751828] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2260 earlier points. [cartographer_node-4] [WARN] [1753972928.772710132] [cartographer logger]: W0731 22:42:08.000000 3497 range_data_collator.cc:82] Dropped 2491 earlier points. [cartographer_node-4] [WARN] [1753972929.055279642] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 2639 earlier points. [cartographer_node-4] [WARN] [1753972929.308514082] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 915 earlier points. [cartographer_node-4] [WARN] [1753972929.357095244] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 365 earlier points. [cartographer_node-4] [WARN] [1753972929.410270693] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 757 earlier points. [cartographer_node-4] [WARN] [1753972929.468742243] [cartographer logger]: W0731 22:42:09.000000 3497 range_data_collator.cc:82] Dropped 532 earlier points. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-3] [INFO] [1753972931.302743250] [rclcpp]: signal_handler(signum=2) [cartographer_node-4] [INFO] [1753972931.303041208] [rclcpp]: signal_handler(signum=2) [cartographer_occupancy_grid_node-5] [INFO] [1753972931.303140164] [rclcpp]: signal_handler(signum=2) [ahrs_driver_node-2] [INFO] [1753972931.306472015] [rclcpp]: signal_handler(signum=2) [test01-6] [INFO] [1753972931.317018916] [tf_subscriber]: 用户中断,退出节点 [test01-6] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 [cartographer_node-4] [INFO] [1753972931.381496061] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:569] Shutdown the subscriber of [scan] [cartographer_node-4] [INFO] [1753972931.398093009] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:569] Shutdown the subscriber of [imu] [cartographer_node-4] [INFO] [1753972931.398192483] [cartographer logger]: I0731 22:42:11.000000 3497 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'... [cartographer_node-4] [WARN] [1753972931.399485994] [cartographer logger]: W0731 22:42:11.000000 3497 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now. [cartographer_node-4] [INFO] [1753972931.399604003] [cartographer logger]: I0731 22:42:11.000000 3497 node.cpp:551] Trajectory 0 already pending to finish. [cartographer_node-4] [INFO] [1753972931.399660276] [cartographer logger]: I0731 22:42:11.000000 3497 map_builder_bridge.cpp:161] Running final trajectory optimization... [cartographer_node-4] [INFO] [1753972931.399828559] [cartographer logger]: I0731 22:42:11.000000 3553 pose_graph_2d.cc:538] Remaining work items in queue: 0 [cartographer_node-4] [INFO] [1753972931.399970030] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.400510321] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [cartographer_node-4] [WARN] [1753972931.402947335] [cartographer logger]: W0731 22:42:11.000000 3553 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972931.443748639] [cartographer logger]: I0731 22:42:11.000000 3553 pose_graph_2d.cc:538] Remaining work items in queue: 1 [cartographer_node-4] [INFO] [1753972931.444092112] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.446113307] [cartographer logger]: I0731 22:42:11.000000 3553 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 [cartographer_node-4] [WARN] [1753972931.448578615] [cartographer logger]: W0731 22:42:11.000000 3553 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available. [cartographer_node-4] [INFO] [1753972931.451659875] [cartographer logger]: I0731 22:42:11.000000 3550 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.451766940] [cartographer logger]: I0731 22:42:11.000000 3550 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [cartographer_node-4] [INFO] [1753972931.562351736] [cartographer logger]: I0731 22:42:11.000000 3552 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-4] [INFO] [1753972931.562474041] [cartographer logger]: I0731 22:42:11.000000 3552 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-4] Count: 0 Optimizing: Done. [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 3495] [INFO] [cartographer_occupancy_grid_node-5]: process has finished cleanly [pid 3500] [sllidar_node-1] [INFO] [1753972931.631353251] [sllidar_node]: Stop motor [INFO] [ahrs_driver_node-2]: process has finished cleanly [pid 3493] [INFO] [cartographer_node-4]: process has finished cleanly [pid 3497] [INFO] [sllidar_node-1]: process has finished cleanly [pid 3491] [INFO] [test01-6]: process has finished cleanly [pid 3518] wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_11.launch.py
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