Running Error with my own Robot

[Ryodo Tanaka]

Hi.
I'm trying to use this awesome package with my won robot on ROS Indigo environment.
My robot is a differential drive robot with two wheels.
And the robot can get following data.
- Wheel odometry
- 9 Axis IMU info
- Laser Ray info (HOKUYO UTM-30LX-EW)

To try cartographer, I did following.
1.  get a rosbag data inside:
    - Odometry data
    - IMU data
    - Laser Ray
2. launch rosbag and cartographer with attached launch file and lua file.

3. got following Error and Warning messages

[ WARN] [1476913155.579323172, 1476902724.919196413]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902724.922144300 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.581179934, 1476902724.919196413]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902724.924410400 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.588067064, 1476902724.929269775]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902724.932161800 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.597767774, 1476902724.939343883]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902724.942152500 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.608544988, 1476902724.949415264]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902724.952175000 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.617798650, 1476902724.959503047]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902724.960724200 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.618303521, 1476902724.959503047]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902724.962164600 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.628011699, 1476902724.969560291]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902724.972182100 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.637945580, 1476902724.979619355]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902724.982177500 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.648088914, 1476902724.989697611]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902724.992188200 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.649711582, 1476902724.989697611]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902724.993179100 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.659262743, 1476902724.999744751]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.003123300 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.660081227, 1476902724.999744751]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.002551800 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.668961399, 1476902725.009823037]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.012228000 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.678011703, 1476902725.019904526]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.022172800 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.689234171, 1476902725.029991957]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.032240100 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.690816453, 1476902725.029991957]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.033879800 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.697940137, 1476902725.040049078]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.042149500 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.706558165, 1476902725.050554376]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.049088800 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.708102468, 1476902725.050554376]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.052171300 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.720105092, 1476902725.060632035]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.062778500 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.731746168, 1476902725.070708655]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.072537700 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.738683615, 1476902725.080780932]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.082166100 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.745921030, 1476902725.090836589]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.088730600 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.748268644, 1476902725.090836589]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.092166200 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.758578079, 1476902725.100890395]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.102198700 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.767629692, 1476902725.110970248]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.112168200 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.778419307, 1476902725.121050424]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.122159000 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.786748380, 1476902725.131123226]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.129856700 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.787819798, 1476902725.131123226]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.132171600 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.797780214, 1476902725.141182441]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.142199000 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.808514042, 1476902725.151242109]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.152179400 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.817499019, 1476902725.161314439]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.160856200 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.817781992, 1476902725.161314439]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.162250300 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.828035955, 1476902725.171395133]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.172332600 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.830057013, 1476902725.171395133]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.172664800 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.838244466, 1476902725.181424435]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.182173400 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.848021663, 1476902725.191506131]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.192164900 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.859166973, 1476902725.201995913]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.202446700 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.868241666, 1476902725.212076753]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.212171500 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.869636711, 1476902725.212076753]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.212929100 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.877889480, 1476902725.222129064]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.222154000 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.888651862, 1476902725.232192630]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.232213500 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.898138533, 1476902725.242271320]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.242186800 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.907904013, 1476902725.252356218]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.252151700 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.909015655, 1476902725.252356218]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.252676900 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.921938474, 1476902725.262458483]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.263264400 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.928242558, 1476902725.272553408]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.272170900 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.938791245, 1476902725.282636053]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.282197300 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.947902984, 1476902725.292912596]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.281232200 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.948254835, 1476902725.292912596]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.292165800 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.959317946, 1476902725.302993892]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.302164700 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.968040786, 1476902725.313027066]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.312147200 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.979783904, 1476902725.324832478]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.322168000 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.988170807, 1476902725.324832478]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.296820600 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913155.988687915, 1476902725.324832478]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.332155600 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913155.998422561, 1476902725.334906954]: W1020 06:39:15.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.342172000 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913156.008299492, 1476902725.344967890]: W1020 06:39:16.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.352203800 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913156.021899518, 1476902725.365165651]: W1020 06:39:16.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.362267500 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476913156.029346052, 1476902725.365165651]: W1020 06:39:16.000000 29040 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476902725.336563400 but the earliest data is at time 1476902725.368853171, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476913156.068553422, 1476902725.405782212]: W1020 06:39:16.000000 29040 local_trajectory_builder.cc:249] Max inclination exceeded: 178.923 > 20
F1020 06:39:17.691504 29040 pose_tracker.cc:48] Check failed: rotation_vector.norm() < 3.14159265358979323846 / 2. (3.11643 vs. 1.5708) Sigma point is far from the mean, recovered delta may be incorrect.
[FATAL] [1476913157.691776799, 1476902727.029868750]: F1020 06:39:17.000000 29040 pose_tracker.cc:48] Check failed: rotation_vector.norm() < 3.14159265358979323846 / 2. (3.11643 vs. 1.5708) Sigma point is far from the mean, recovered delta may be incorrect.
*** Check failure stack trace: ***
    @     0x7f320f94adaa  (unknown)
    @     0x7f320f94ace4  (unknown)
    @     0x7f320f94a6e6  (unknown)
    @     0x7f320f94d687  (unknown)
    @           0x5a0554  cartographer::kalman_filter::(anonymous namespace)::AddDelta()
    @           0x5a204f  std::_Function_handler<>::_M_invoke()
    @           0x5a3132  std::function<>::operator()()
    @           0x5ad615  cartographer::kalman_filter::UnscentedKalmanFilter<>::Observe<>()
    @           0x5a1475  cartographer::kalman_filter::PoseTracker::AddPoseObservation()
    @           0x5a1744  cartographer::kalman_filter::PoseTracker::AddOdometerPoseObservation()
    @           0x570d07  cartographer::mapping_2d::LocalTrajectoryBuilder::AddOdometerPose()
    @           0x5123fd  cartographer::mapping::CollatedTrajectoryBuilder::HandleCollatedSensorData()
    @           0x512491  _ZNSt17_Function_handlerIFvRKSsSt10unique_ptrIN12cartographer6sensor4DataESt14default_deleteIS5_EEEZNS3_7mapping25CollatedTrajectoryBuilderC1EPNS4_8CollatorEiRKSt13unordered_setISsSt4hashISsESt8equal_toISsESaISsEES2_INSA_32GlobalTrajectoryBuilderInterfaceES6_ISN_EEEUlS1_S8_E_E9_M_invokeERKSt9_Any_dataS1_S8_
    @           0x5127cb  _ZNSt17_Function_handlerIFvSt10unique_ptrIN12cartographer6sensor4DataESt14default_deleteIS3_EEEZNS2_8Collator13AddTrajectoryEiRKSt13unordered_setISsSt4hashISsESt8equal_toISsESaISsEESt8functionIFvRKSsS6_EEEUlS6_E_E9_M_invokeERKSt9_Any_dataS6_
    @           0x51169d  cartographer::sensor::OrderedMultiQueue::Dispatch()
    @           0x51441c  cartographer::sensor::OrderedMultiQueue::Add()
    @           0x512555  cartographer::mapping::CollatedTrajectoryBuilder::AddSensorData()
    @           0x765989  cartographer_ros::SensorBridge::HandleOdometryMessage()
    @           0x4e49f8  _ZN5boost6detail8function26void_function_obj_invoker1IZN16cartographer_ros12_GLOBAL__N_14Node10InitializeEvEUlRKNS_10shared_ptrIKN8nav_msgs9Odometry_ISaIvEEEEEE3_vSE_E6invokeERNS1_15function_bufferESE_
    @           0x4ed9fb  boost::detail::function::void_function_obj_invoker1<>::invoke()
    @           0x4f7e08  ros::SubscriptionCallbackHelperT<>::call()
    @     0x7f320f2286b5  (unknown)
    @     0x7f320f1e2107  (unknown)
    @     0x7f320f1e2c33  (unknown)
    @     0x7f320f22b1e5  (unknown)
    @     0x7f320f212e0b  (unknown)
    @           0x4e8237  cartographer_ros::(anonymous namespace)::Run()
    @           0x4e2d3d  main
    @     0x7f320b5faf45  (unknown)
    @           0x4e4237  (unknown)
    @              (nil)  (unknown)

I have no idea how to fix this.
What am I doing wrong or missing ?
Can anyone help me ?
Best Regards. Thank you.

[Damon Kohler]

Looks like your URDF is incorrect. The IMU is indicating that the LIDAR is far from being horizontal.

local_trajectory_builder.cc:249] Max inclination exceeded: 178.923 > 20

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[Ryodo Tanaka]

Thank you for replying.
I fixed my IMU link. And the error has gone.
But next, I get following warning message and the program is not work.
I didn't change the launch file and lua configulation file.

[ WARN] [1476981692.030978691, 1476916228.566587348]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.567004800 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.040059863, 1476916228.576656586]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.577016700 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.050229851, 1476916228.586763506]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.587023600 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.061614303, 1476916228.597018016]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.597077600 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.070966357, 1476916228.607098172]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.607064800 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.080688141, 1476916228.617272188]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.617019700 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.081102701, 1476916228.617272188]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.616749000 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.090350611, 1476916228.627343613]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.627006500 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.100887352, 1476916228.637405798]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.636997100 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.113004359, 1476916228.647472607]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.647053900 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.121005332, 1476916228.657532419]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.657079000 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.121910658, 1476916228.657532419]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.656752000 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.133314528, 1476916228.668991927]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.666995200 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.141437418, 1476916228.679070216]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.677062100 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.146932580, 1476916228.679070216]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.681615800 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.151305975, 1476916228.689129129]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.687025700 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.160180493, 1476916228.689129129]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.696994900 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.165371576, 1476916228.699217108]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.701240800 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.170710269, 1476916228.699217108]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.706992700 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.180453374, 1476916228.709275096]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.717033600 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.190814527, 1476916228.719350638]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.727134000 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.200142460, 1476916228.729420790]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.737034000 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.205472680, 1476916228.739485590]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.741329200 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.210586908, 1476916228.739485590]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.747022500 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.219883683, 1476916228.749563949]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.757026600 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.229991621, 1476916228.759634682]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.767017800 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.241653445, 1476916228.769706237]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.777531200 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.244976879, 1476916228.779996182]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.780962900 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.250255007, 1476916228.779996182]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.787039100 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.260509672, 1476916228.790052637]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.797076300 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.269425041, 1476916228.800130657]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.804902100 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.270139965, 1476916228.800130657]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.807003300 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.283131590, 1476916228.810202263]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.817038300 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.291358353, 1476916228.820519964]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.826992800 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.300459542, 1476916228.830593170]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.837002200 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.310717090, 1476916228.840668436]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.845892600 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.311539727, 1476916228.840668436]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.848414500 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.321325936, 1476916228.850738116]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.857042000 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.329918671, 1476916228.860834653]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.866986000 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.330199541, 1476916228.860834653]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.865522600 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.340199786, 1476916228.870926887]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.876990500 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.350988331, 1476916228.881025860]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.887056500 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.361247417, 1476916228.891103348]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.897026100 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.370155610, 1476916228.901161962]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.907007800 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.371794594, 1476916228.901161962]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.905559400 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.380596074, 1476916228.911236603]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.916982100 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.389874391, 1476916228.921323953]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.926987100 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.393986214, 1476916228.931395913]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.929335800 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.400295680, 1476916228.931395913]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.936989100 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.410399588, 1476916228.941465281]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.946945500 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.420761165, 1476916228.951667147]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.957081800 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.430834971, 1476916228.961726324]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.968081200 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.433020129, 1476916228.961726324]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.969461100 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981692.439983557, 1476916228.971797755]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.976985500 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.450932888, 1476916228.981871997]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.987065700 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.459980405, 1476916228.991941456]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.997043100 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.470729311, 1476916229.002014199]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916229.006997700 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [base_footprint] to frame [imu_link]
[ WARN] [1476981692.471192580, 1476916229.002014199]: W1021 01:41:32.000000 24699 tf_bridge.cc:51] Lookup would require extrapolation into the past.  Requested time 1476916228.992215300 but the earliest data is at time 1476916229.014006517, when looking up transform from frame [lrf_link] to frame [imu_link]
[ WARN] [1476981697.535058597, 1476916234.068015421]: W1021 01:41:37.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981698.015048441, 1476916234.552084387]: W1021 01:41:38.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981698.455177768, 1476916234.984976606]: W1021 01:41:38.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981698.895155901, 1476916235.427923074]: W1021 01:41:38.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981699.375261743, 1476916235.912270774]: W1021 01:41:39.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981699.815109437, 1476916236.345562702]: W1021 01:41:39.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981700.270454072, 1476916236.798896347]: W1021 01:41:40.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981700.735516751, 1476916237.271785123]: W1021 01:41:40.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981701.175627618, 1476916237.705274318]: W1021 01:41:41.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981701.625546820, 1476916238.158972035]: W1021 01:41:41.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981702.095079895, 1476916238.632302434]: W1021 01:41:42.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981702.535201898, 1476916239.065109665]: W1021 01:41:42.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981703.007377774, 1476916239.535631563]: W1021 01:41:43.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981703.455121995, 1476916239.989196270]: W1021 01:41:43.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981703.903326639, 1476916240.434075609]: W1021 01:41:43.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981704.378888189, 1476916240.908332462]: W1021 01:41:44.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.
[ WARN] [1476981704.817049078, 1476916241.353321167]: W1021 01:41:44.000000 24699 ordered_multi_queue.h:167] Queue (0, odom) exceeds maximum size.

I can understand
1. the time stamp is not good for Look up Transform
2. something is wrong on the odom topic.
On the first point, I have an idea to fix it. Change the parameter named " lookup_transform_timeout_sec".
But, I have no idea to fix the Second one.

What am I doing wrong or missing on that?

Can anyone help me ?
Best Regards. Thank you.

2016年10月20日木曜日 15時28分57秒 UTC+9 Damon Kohler:

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[Holger Rapp]

​This is only at the beginning and should get fixed.​

​​

 

2. something is wrong on the odom topic.
On the first point, I have an idea to fix it. Change the parameter named " lookup_transform_timeout_sec".
But, I have no idea to fix the Second one.

​This is the crucial issue: we time order data internally - for that we wait for data on each topic that you promised Cartographer to send data on. This output indicates that we receive plenty of odom messages, but probably no other messages. Check your configuration for correct frame names and which sensor you configured.

​​

 

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[Ryodo Tanaka]

Thank you for your help.
To say from a conclusion, I fixed the error.
I checked my topic and frames that you advised me.
And I found I missed these things
  1. missed the published_frame.
      I set base_footprint frame on my robot. And I wanted to use that frame. But I mistakenly set.
  2. I set that there are IMU data but actually there are no IMU data.
      I mistakenly thought there are IMU data in my rosbag data. But there is nothing about it.(Very easy mistake, sorry...)
The second one is the crucial point that I got a warning and being not work.

I'm really appreciate you helping me.

// Ryodo TANAKA
// Master 1st student of Control Engineering
// Nishida Laboratory, Kyushu Institute of Technology
// 1-1, Sensui-cho, Tobata Ward, Kitakyushu City, Fukuoka, 804-8550, Japan


2016年10月21日金曜日 2時02分47秒 UTC+9 Holger Rapp:

...

[Ryodo Tanaka]

I forget to attach the configuration file that I finally set.
I'll attach that. And the launch file is same.

2016年10月21日金曜日 3時24分13秒 UTC+9 Ryodo Tanaka:

...

[Alex]

Hi Ryodo Tanaka,

How did you launch your robot's file? Did you source install all the files in the cartograph_ws or used separate catkin_ws for the robot's launch file.

I am confused as to how to launch them together. My robot files and hokuyo sensor files are inside the regular catkin_ws.

However, the cartographer used the catkin_make_isolated with wstool. Can you describe the process that you used to launch them on your robot.

I have a pioneer p3dx with Hokuyo lidar and want to use the cartographer on my robot. 

Many thanks

Alex

[Ryodo Tanaka]

Hi Alex

First of all, I used rosbag data for cartographer. So, there were no dependencies on workspace.
But, I didn't separate the workspace. I mean, I set my own robot packages and cartographer packages.

To consider your situation, I think there are two solutions for your robot with cartographer.
First solution.

1. Get the rosbag data with your own robot.
2. play rosbag data and launch cartographer

Second solution.

1. Set your robot packages and cartographer packages on same workspace.
2. launch your robot (p3dx + Hokuyo node)
3. launch cartographer

I hope it will be solve your problem.
Thanks.

Ryodo Tanaka

2016年11月2日水曜日 6時37分53秒 UTC Alex:

...

[Alex]

Hi Ryodo Tanaka,

Thank you for your kind reply.

I did try the second method that you are suggesting for real time mapping. 

The problem I am facing is the packages are not getting installed in the install_isolated/share when doing 

catkin_make_isolated.  On the other hand, the catkin_make does not work at all inside cartographer_ws. 

Can you describe how did you installed the packages, did you used the catkin_make command or the 

catkin_make_isolated --install --use-ninja

I will try the first method today and check again. 

Thanks 

Alex

[Alex]

HI ,

I am constantly getting the following error. 

I am not sure what I am doing wrong  to get the FATAL error. 

This is what I did. 

1. Made new launch file in the cartographer_ros and new configuration file. 

2.$catkin_make_isolated --install --use-ninja

3. source install_isolated/setup.bash

My bagfile contains topics /tf, /scan and /odom. Dropbox link (https://www.dropbox.com/s/ng4zzp1906vygsj/bag1_carto_test.bag?dl=0k)

The laser is hokuyo lidar 8 m range. I am using ROS indigo. 

Can someone help me with this problem. 

alex@alexrd:~/cartographer_ws$ roslaunch cartographer_ros demo_p3dx_odom_laser.launch bag_filename:=/home/alex/experiment_bag_files/1Nov2016_bag/bag1_corridora5.bag
... logging to /home/alex/.ros/log/c3d9206a-a0e0-11e6-893d-68a3c42fe28b/roslaunch-alexrd-29299.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.


started roslaunch server http://alexrd:44125/


SUMMARY
========


PARAMETERS
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 20.0
 * /rosdistro: indigo
 * /rosversion: 1.11.20
 * /use_sim_time: True


NODES
 /
 cartographer_node (cartographer_ros/cartographer_node)
 playbag (rosbag/play)
 robot_state_publisher (robot_state_publisher/robot_state_publisher)
 rviz (rviz/rviz)
 static_transform_publisher (tf/static_transform_publisher)
 static_transform_publisher2 (tf/static_transform_publisher)
 static_transform_publisher3 (tf/static_transform_publisher)
 static_transform_publisher4 (tf/static_transform_publisher)


ROS_MASTER_URI=http://alexrd.local:11311


core service [/rosout] found
process[robot_state_publisher-1]: started with pid [29320]
process[static_transform_publisher-2]: started with pid [29321]
process[static_transform_publisher2-3]: started with pid [29323]
process[static_transform_publisher3-4]: started with pid [29339]
process[static_transform_publisher4-5]: started with pid [29348]
process[cartographer_node-6]: started with pid [29359]
process[rviz-7]: started with pid [29377]
process[playbag-8]: started with pid [29391]
[ INFO] [1478080231.748315176]: I1102 18:50:31.000000 29359 configuration_file_resolver.cc:40] Found '/home/alex/cartographer_ws/install_isolated/share/cartographer_ros/configuration_files/p3dx_laser.lua' for 'p3dx_laser.lua'.
[ INFO] [1478080231.748739901]: I1102 18:50:31.000000 29359 configuration_file_resolver.cc:40] Found '/home/alex/cartographer_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1478080231.748818740]: I1102 18:50:31.000000 29359 configuration_file_resolver.cc:40] Found '/home/alex/cartographer_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1478080231.748922426]: I1102 18:50:31.000000 29359 configuration_file_resolver.cc:40] Found '/home/alex/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1478080231.748988290]: I1102 18:50:31.000000 29359 configuration_file_resolver.cc:40] Found '/home/alex/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1478080231.749162705]: I1102 18:50:31.000000 29359 configuration_file_resolver.cc:40] Found '/home/alex/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1478080231.749243240]: I1102 18:50:31.000000 29359 configuration_file_resolver.cc:40] Found '/home/alex/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1478080231.749424086]: I1102 18:50:31.000000 29359 configuration_file_resolver.cc:40] Found '/home/alex/cartographer_ws/install_isolated/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.
[ INFO] [1478080231.749493890]: I1102 18:50:31.000000 29359 configuration_file_resolver.cc:40] Found '/home/alex/cartographer_ws/install_isolated/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.
[ INFO] [1478080231.839970579]: I1102 18:50:31.000000 29359 submaps.cc:176] Added submap 1
F1102 18:50:32.045836 29359 sensor_bridge.cc:33] Check failed: frame_id[0] != '/' ('/' vs. '/')
[FATAL] [1478080232.046556690, 1478076534.436983369]: F1102 18:50:32.000000 29359 sensor_bridge.cc:33] Check failed: frame_id[0] != '/' ('/' vs. '/')

*** Check failure stack trace: ***

 @ 0x7f9ee3495daa (unknown)
 @ 0x7f9ee3495ce4 (unknown)
 @ 0x7f9ee34956e6 (unknown)
 @ 0x7f9ee3498687 (unknown)
 @ 0x767666 cartographer_ros::(anonymous namespace)::CheckNoLeadingSlash()
 @ 0x7676bd cartographer_ros::SensorBridge::HandleLaserScanProto()
 @ 0x768576 cartographer_ros::SensorBridge::HandleLaserScanMessage()
 @ 0x4e8518 _ZN5boost6detail8function26void_function_obj_invoker1IZN16cartographer_ros12_GLOBAL__N_14Node10InitializeEvEUlRKNS_10shared_ptrIKN11sensor_msgs10LaserScan_ISaIvEEEEEE_vSE_E6invokeERNS1_15function_bufferESE_
 @ 0x4f14cb boost::detail::function::void_function_obj_invoker1<>::invoke()
 @ 0x4fcc38 ros::SubscriptionCallbackHelperT<>::call()
 @ 0x7f9ee2b436b5 (unknown)
 @ 0x7f9ee2afd107 (unknown)
 @ 0x7f9ee2afdc33 (unknown)
 @ 0x7f9ee2b461e5 (unknown)
 @ 0x7f9ee2b2de0b (unknown)
 @ 0x4ebfe4 cartographer_ros::(anonymous namespace)::Run()
 @ 0x4e68ed main
 @ 0x7f9edf13ff45 (unknown)
 @ 0x4e7ec7 (unknown)
 @ (nil) (unknown)
[cartographer_node-6] process has died [pid 29359, exit code -6, cmd /home/alex/cartographer_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/alex/cartographer_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename p3dx_laser.lua scan:=/scan __name:=cartographer_node __log:=/home/alex/.ros/log/c3d9206a-a0e0-11e6-893d-68a3c42fe28b/cartographer_node-6.log].
log file: /home/alex/.ros/log/c3d9206a-a0e0-11e6-893d-68a3c42fe28b/cartographer_node-6*.log

Thanks 

Alex

...

[Holger Rapp]

​Your frame_ids start with a slash ('/') - that is an anacronism, left over from ros::tf. The new world - which is years old now - does not do slashes in frame_ids. tf2 has some weird semantics around dealing with slashes to keep some sort of backwards compatibility - which some nodes understand, most do not. We decided to not deal with this and crash. 

Remove the slashes from your frame_ids and it should work.

[1] Further reading: http://wiki.ros.org/tf2/Migration, especially section 1.7.1

On Wed, Nov 2, 2016 at 3:12 AM, Ankit Ravankar <ankitr...@gmail.com> wrote:

On Wednesday, November 2, 2016 at 4:17:58 PM UTC+9, Ryodo Tanaka wrote:

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[Alex]

Hi, 

Many thanks. I should have looked into it but somehow missed it. After resolving all the tf frame names to tf2 convention, its working perfectly now.

I have one more query. I also have a fixed vertical laser (Hokuyo) on my robot as well. Is it possible to integrate that too or it requires the velodyne sensor for the 3d mapping. 

Thank you for the help.

Best Regards

Alex

...

[Holger Rapp]

On Fri, Nov 4, 2016 at 1:41 AM, Alex <aarav...@gmail.com> wrote:

Hi, 

Many thanks. I should have looked into it but somehow missed it. After resolving all the tf frame names to tf2 convention, its working perfectly now.

I have one more query. I also have a fixed vertical laser (Hokuyo) on my robot as well. Is it possible to integrate that too or it requires the velodyne sensor for the 3d mapping. 

​It requires a 3d laser for 3d mapping - otherwise you do not have overlaps in z-direction in your scans, which makes scan matching impossible. You can throw in the 2D laser and make sure that your scans_per_accumulation setting is big enough so that the hokuyo is included 'regularly' in your point cloud for matching. The question is just if that is useful: The hokuyo has different timing informations, is always a full 360 scan (I think) - so unwarping it using the IMU is cumbersomee. And it will not add a lot of information to the point cloud from the 3D laser - since it sees the same things.​

 

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