ROS交流群
ROS Group
产品服务
Product Service
开源代码库
Github
官网
Official website
技术交流
Technological exchanges
激光雷达
LIDAR
ROS教程
ROS Tourials
深度学习
Deep Learning
机器视觉
Computer Vision

谷歌cartographer使用速腾聚创3d激光雷达数据进行三维建图



  • @weijiz 好的,我试试



  • @weijiz
    大佬,我按照那个网址重新装cartographer。
    安装prtobuf 3.0中

    cmake
    -DCMAKE_POSITION_INDEPENDENT_CODE=ON
    -DCMAKE_BUILD_TYPE=Release
    -Dprotobuf_BUILD_TESTS=OFF
    …/cmake
    

    这一步报错,显示

    CMake Error at protoc.cmake:9 (add_executable):
    Cannot find source file:
    
    /home/gahoo/lanjing_ws/protobuf/build/version.rc
    
    Tried extensions .c .C .c++ .cc .cpp .cxx .m .M .mm .h .hh .h++ .hm .hpp
    .hxx .in .txx
    Call Stack (most recent call first):
    CMakeLists.txt:210 (include)
    
    – Generating done
    – Build files have been written to: /home/gahoo/lanjing_ws/protobuf/build
    

    这个问题怎么解决呢……



  • 大佬,这边建图还有一个问题,就是我bag包播放完后,用rosrun rqt_service_caller rqt_service_caller,在下拉栏中没有找到/finish_trajectory服务。

    并且在启用rosrun rqt_service_caller rqt_service_caller命令时后,显示蓝色的类似报错的

    ServiceCaller.on_refresh_services_button_clicked(): could not get class of service /rqt_gui_py_node_12156/get_loggers:
    Unable to communicate with service [/rqt_gui_py_node_12156/get_loggers], address [rosrpc://gahoo-CW65S:36901]
    ServiceCaller.on_refresh_services_button_clicked(): could not get class of service /play_1537344541526081508/get_loggers:
    Unable to communicate with service [/play_1537344541526081508/get_loggers], address [rosrpc://gahoo-CW65S:40739]
    ServiceCaller.on_refresh_services_button_clicked(): could not get class of service /rqt_gui_py_node_11811/set_logger_level:
    Unable to communicate with service [/rqt_gui_py_node_11811/set_logger_level], address [rosrpc://gahoo-CW65S:45377]
    ServiceCaller.on_refresh_services_button_clicked(): could not get class of service /play_1537344541526081508/set_logger_level:
    Unable to communicate with service [/play_1537344541526081508/set_logger_level], address [rosrpc://gahoo-CW65S:40739]
    ServiceCaller.on_refresh_services_button_clicked(): could not get class of service /rqt_gui_py_node_11811/get_loggers:
    Unable to communicate with service [/rqt_gui_py_node_11811/get_loggers], address [rosrpc://gahoo-CW65S:45377]
    

    大佬这是什么原因?



  • @gahoo 没有遇到过这个情况,不太清楚



  • @weijiz
    大佬,我这边再试了一下,现实的蓝色报错更变了

    ServiceCaller.on_refresh_services_button_clicked(): could not get class of service /submap_query:
    Unable to load type [cartographer_ros_msgs/SubmapQuery].
    Have you typed 'make' in [cartographer_ros_msgs]?
    ServiceCaller.on_refresh_services_button_clicked(): could not get class of service /finish_trajectory:
    Unable to load type [cartographer_ros_msgs/FinishTrajectory].
    Have you typed 'make' in [cartographer_ros_msgs]?
    ServiceCaller.on_refresh_services_button_clicked(): could not get class of service /start_trajectory:
    Unable to load type [cartographer_ros_msgs/StartTrajectory].
    Have you typed 'make' in [cartographer_ros_msgs]?
    ServiceCaller.on_refresh_services_button_clicked(): could not get class of service /write_state:
    Unable to load type [cartographer_ros_msgs/WriteState].
    Have you typed 'make' in [cartographer_ros_msgs]?
    

    这个有遇到过么。。。



  • @gahoo 大佬我明白了,我没有设置环境变量。。。



  • This post is deleted!


  • @weijiz 大佬,我在调用/write_state服务服务的时候,在response中message的value显示为fail to write,在~/.ros目录中也没有找到test_3d.pbfile。这个怎么解决呢?



  • @gahoo 在调用此服务时是否正确设置了调用参数。此时终端是不是有错误提示?
    我把你之前的问题恢复了。如果别人有类似问题也可以做一个参考。



  • @weijiz 那张图没认真看,在调用/write_state时忘了设置名称了,现在成功了,谢谢大佬!!!



  • This post is deleted!


  • @rolandyin https://github.com/BluewhaleRobot/cartographer_ros



  • @weijiz 好的!多谢



  • @gahoo 请问你是怎么解决这个问题的呢,我也遇见了,多谢多谢



  • @rolandyin 哪个问题,我加你QQ你没回



  • @gahoo 我现在按流程走一遍,没有生成ply文件,您遇到过这种情况吗?



  • @fgy4010谷歌cartographer使用速腾聚创3d激光雷达数据进行三维建图 中说:

    @gahoo 我现在按流程走一遍,没有生成ply文件,您遇到过这种情况吗?

    我过程中都没有报错。



  • 请教下这个例程里有没有用车的轮式里程计的信息。就是我现在已经得到准确的里程计,然后用这个算法建图可以么。



  • @ReubenY谷歌cartographer使用速腾聚创3d激光雷达数据进行三维建图 中说:

    有用车的轮式里程计的信息。就是我现在已经得到准确的里程计,然后用这个算法建图可以么

    可以



  • @fgy4010 我也没生成.ply文件,反而生成的是.png文件,不知道怎么回事?请问怎么解决?


Log in to reply