制图师：为什么实时测绘时雷达位置没有变化？

Question

无论我如何移动雷达，rviz 显示的雷达位置都不会改变。

为什么会发生这种情况？我需要添加奥多姆信息吗？

我希望地图上的雷达位置随着雷达位置的变化而变化

.lua文件：

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 30
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.constraint_builder.min_score = 0.65

.启动文件：

<launch>
<param name="robot_description"
  textfile="$(find cartographer_ros)/urdf/car.urdf" />
<param name="/use_sim_time" value="false" />
<node name="robot_state_publisher" pkg="robot_state_publisher"
  type="robot_state_publisher" />
<node name="cartographer_node" pkg="cartographer_ros"
  type="cartographer_node" args="
  -configuration_directory $(find cartographer_ros)/configuration_files
  -configuration_basename myLds.lua"
  output="screen">
<remap from="scan" to="/scangkw" />
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
  type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>

Answer 1

检查雷达正在发布数据的帧。框架与base_link相同吗？如果没有，请将雷达提供的帧名称设置为等于.lua配置文件中的tracking_frame。

如果您不想这样做并保留原始配置，请提供 static_transform_publisher，它提供雷达框架和 base_link 之间的转换。

这里可能发生的情况是，您的雷达在不同的帧上提供数据，而您的制图师设置为接受位于 base_link 帧的位置数据。