@rolandyin 哪个问题，我加你QQ你没回

@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！！！

@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 大佬我明白了，我没有设置环境变量。。。

@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。。。

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？

@weijiz 大佬，cartographer不是说可以不需要imu，单单使用激光雷达，论坛里有速腾单单使用激光雷达背包模型的包么。

@weijiz 好的成功啦，谢谢大佬

@weijiz 大佬，我安装了ubuntu16.04+ros kinetic 这回编译是全部通过了
但是到第7步roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag报错

显示
what(): Error opening file: /home/gahoo/Desktop/cartographer_paper_deutsches_museum.bag
[rospack] Error: package ‘xiaoqiang_udrf’ not found
[librospack]: error while executing command

是不是那个cartographer_ros包内有点问题

@weijiz 现在可以了，谢谢大佬