Cartographer_ros: cartographer build map error

[zchao9456]

process[robot_state_publisher-1]: started with pid [11071]
process[cartographer_node-2]: started with pid [11072]
process[cartographer_occupancy_grid_node-3]: started with pid [11078]
process[base_to_laser_broadcaster-4]: started with pid [11086]
zc_build_map.lua

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "laser_link",
published_frame = "laser_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 = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65
return options

zc_build_map.launch

type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename zc_build_map.lua"
output="screen">

type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

cartographer build map error,
What is the reason?
help me,thanks

[zchao9456]

type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename zc_build_map.lua"
output="screen">

type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

[gaschler]

Your header timestamps of LaserScan messages are corrupted.

[zchao9456]

Can you tell me how to do it?I just started learning.thanks

[jonra1993]

Ensure that scan_time and time_increment in scan topic header are in seconds. I had same problem with YdLiDAR X4 those parameters were in ns at the beginning.