请问六哥遇到过类似的rviz地图加载的问题吗?

ROS威龙👊ROS威龙👊 · 2022-07-07 16:51
用的是cartographer跑论文的bag时遇到的这个问题.命令行为:roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/data_bag/carto/cartographer_paper_deutsches_museum.bag,第一次跑的时候没有问题,最后成功建图,但关闭rviz时点了保存配置还是什么别的操作.再次想运行相同命令行时,有警告: WARN] [1657183858.386504256, 1432647216.970098698]: Could not compute submap fading: "map" passed to lookupTransform argument target_frame does not exist.  [ WARN] [1657183858.441568252, 1432647217.030647586]: W0707 16:50:58.000000 26174 ordered_multi_queue.cc:155] Queue waiting for data: (0, points2_1).且rviz显示不出实时构建的地图了(无图像),rviz左边菜单栏显示:Global Status:Error,TF那一栏的base_link,imu_link 都是显示No transform from base_link,imu_link to frame map
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