Cartographer_ros: An error occurred while I was running 2D demo

[carl1218]

when i was running 2d demo bag, I get the following erro:

process[robot_state_publisher-2]: started with pid [17777]
ERROR: cannot launch node of type [cartographer_ros/cartographer_node]: can't locate node [cartographer_node] in package [cartographer_ros]
process[rviz-4]: started with pid [17807]
process[playbag-5]: started with pid [17810]

[damonkohler]

Sounds like you didn't build everything first?

[carl1218]

I am completely in accordance with the latest version of the tutorial.

[rohbotics]

You need to run the source install_isolated/setup.bash command in every terminal that you want to use cartographer in. This could be documented better.

[carl1218]

Thank you,it was my mistake，i have run the
echo "source ~/install_isolated/setup.bash" >> ~/.bashrc
source ~/.bashrc

But,when i was running 2d demo bag, I get another erro：
[cartographer-3] process has died [pid 4946, exit code -6, cmd /home/robot/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/robot/catkin_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename backpack_2d.lua echoes:=horizontal_laser_2d __name:=cartographer __log:=/home/robot/.ros/log/002a0b9e-718c-11e6-a06c-000c29e30f9c/cartographer-3.log].
log file: /home/robot/.ros/log/002a0b9e-718c-11e6-a06c-000c29e30f9c/cartographer-3*.log

[carl1218]

@rohbotics ，hi，I get another erro：

cartographer_node: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:78: Eigen::internal::plain_array::plain_array() [with T = double; int Size = 4; int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast(eigen_unaligned_array_assert_workaround_gcc47(array)) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " ** READ THIS WEB PAGE !!! *_"' failed.
[cartographer-3] process has died [pid 4946, exit code -6, cmd /home/robot/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/robot/catkin_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename backpack_2d.lua echoes:=horizontal_laser_2d __name:=cartographer __log:=/home/robot/.ros/log/002a0b9e-718c-11e6-a06c-000c29e30f9c/cartographer-3.log].
log file: /home/robot/.ros/log/002a0b9e-718c-11e6-a06c-000c29e30f9c/cartographer-3_.log

[wohe]

Sounds like an alignment issue. Are you running on a 32-bit system? I'm asking because it should not be an issue on 64-bit systems. If you're not: processor? OS? compiler?

[damonkohler]

@carl1218 I'm closing this issue now since it seems clear that this is an alignment issue from running on 32-bit. This incompatibility is now documented in our system requirements.

[dadawang]

I was running 2D demo bag and got this issue:

• ERROR: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher
  ROS path [0]=/opt/ros/indigo/share/ros

[wohe]

This doesn't seem Cartographer related: See http://answers.ros.org/questions/
That said: Did you follow our installation instructions? Is ros-indigo-robot-state-publisher installed on your system? Did you source /opt/ros/indigo/setup.bash?

[herogan2017]

hello, when I run 2d-demo on my computer,found following errors. Can you me tell me why? thanks.

[ghost]

@herogan2017 Have you solved the problem? I just got the same problem, but I have already sourced the setup.bash.

[TSRyan]

I had the same error message as @herogan2017, and this thread was the top hit on Google. In my case, I had built only the cartographer_ros package, neglecting to build the cartographer_rviz package. After building cartographer_rviz and sourcing the proper setup.bash, it worked fine.

[jankin1024]

@herogan2017 I met this question just now. It needs run command "sudo apt-get install ros-kinetic-cartographer_rviz" to use rviz in this process. and now it works fine. By the way, the cartographer package can be install directly now.