实时Cartographer测试(1) - rplidar
1.rplidar实时测试
参考文献：http://www.cnblogs.com/liangyf0312/p/8028441.html
修改USB转串口权限
yhexie@ubuntu:~$ cd /etc/udev/rules.d yhexie@ubuntu:/etc/udev/rules.d$ su Password: root@ubuntu:/etc/udev/rules.d# touch 70-ttyusb.rules root@ubuntu:/etc/udev/rules.d# vi 70-ttyusb.rules KERNEL=="ttyUSB[0-9]*", MODE="0666" :wq
重新插入USB转串口设备，普通用户就有权限访问了。
yhexie@ubuntu:~$ cd /etc/udev/rules.d yhexie@ubuntu:/etc/udev/rules.d$ su Password: root@ubuntu:/etc/udev/rules.d# vi 70-ttyusb.rules root@ubuntu:/etc/udev/rules.d# ls -l /dev |grep ttyUSB crw-rw---- 1 root dialout 188, 0 Dec 20 17:15 ttyUSB0
测试rplidar
yhexie@ubuntu:~$ roslaunch rplidar_ros view_rplidar.launch
运行cartographer，首先 编辑用于运行rplidar的配置文件：
（1）定义一个名为revo_lds_rplidar.lua的文件，在revo_lds_.lua基础上修改，
位于/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files文件夹下，修改了22和23行。
-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
-- http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "laser",
published_frame = "laser",
odom_frame = "odom",
provide_odom_frame = true,
use_odometry = 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.,
imu_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
（2）编辑一个launch文件demo_revo_lds_rplidar.launch，
位于~/catkin_ws/src/cartographer_ros/cartographer_ros/launch文件夹下，在demo_revo_lds.launch基础上修改，注意23和25行。内容如下：
<!--
Copyright 2016 The Cartographer Authors
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<launch>
<param name="/use_sim_time" value="true" />
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename revo_lds_rplidar.lua"
output="screen">
<remap from="scan" to="scan" />
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
</launch>
重新编译
yhexie@ubuntu:~$ cd ~/catkin_ws yhexie@ubuntu:~/catkin_ws$ catkin_make_isolated --install --use-ninja
启动两个终端，分别运行rplidar的节点和cartographer_ros节点：
yhexie@ubuntu:~$ roslaunch rplidar_ros rplidar.launch
yhexie@ubuntu:~/catkin_ws$ roslaunch cartographer_ros demo_revo_lds_rplidar.launch
... logging to /home/yhexie/.ros/log/afd0089e-e5f5-11e7-8232-000c294d6cba/roslaunch-ubuntu-79069.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://ubuntu:42389/
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.12
* /use_sim_time: True
NODES
/
cartographer_node (cartographer_ros/cartographer_node)
cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
rviz (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
process[cartographer_node-1]: started with pid [79086]
process[cartographer_occupancy_grid_node-2]: started with pid [79087]
process[rviz-3]: started with pid [79089]
[ INFO] [1513823205.875377197]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/revo_lds_rplidar.lua' for 'revo_lds_rplidar.lua'.
[ INFO] [1513823205.875821687]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1513823205.875920910]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1513823205.876084677]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1513823205.876204996]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1513823205.876455970]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1513823205.876583070]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1513823205.876699456]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1513823205.876786168]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1513823205.876934620]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1513823205.877021489]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1513823205.930127528]: I1220 18:26:45.000000 79086 submaps.cc:190] Added submap 1
[ INFO] [1513823205.937074526]: I1220 18:26:45.000000 79086 map_builder_bridge.cc:86] Added trajectory with ID '0'.
[ INFO] [1513823206.135690444]: I1220 18:26:46.000000 79086 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '636494200060795243'.
[ INFO] [1513823206.135868647]: I1220 18:26:46.000000 79086 local_trajectory_builder.cc:103] Extrapolator is still initializing.
[ INFO] [1513823212.788944211]: I1220 18:26:52.000000 79086 submaps.cc:190] Added submap 2
[ INFO] [1513823212.845112912]: I1220 18:26:52.000000 79146 constraint_builder.cc:261] 0 computations resulted in 0 additional constraints.
[ INFO] [1513823212.845218664]: I1220 18:26:52.000000 79146 constraint_builder.cc:263] Score histogram:
Count: 0
[ INFO] [1513823216.655158709]: I1220 18:26:56.000000 79086 submaps.cc:190] Added submap 3
[ INFO] [1513823216.772712639]: I1220 18:26:56.000000 79145 constraint_builder.cc:240] Node (0, 70) with 74 points on submap (0, 0) differs by translation 0.00 rotation 0.022 with score 82.0%.
[ INFO] [1513823216.815044344]: I1220 18:26:56.000000 79144 constraint_builder.cc:261] 1 computations resulted in 1 additional constraints.
[ INFO] [1513823216.815440872]: I1220 18:26:56.000000 79144 constraint_builder.cc:263] Score histogram:
Count: 1 Min: 0.820424 Max: 0.820424 Mean: 0.820424
[ INFO] [1513823217.018737093]: I1220 18:26:57.000000 79144 constraint_builder.cc:240] Node (0, 73) with 73 points on submap (0, 0) differs by translation 0.01 rotation 0.004 with score 78.0%.
[ INFO] [1513823217.136057306]: I1220 18:26:57.000000 79143 constraint_builder.cc:240] Node (0, 76) with 75 points on submap (0, 0) differs by translation 0.01 rotation 0.014 with score 74.8%.
[ INFO] [1513823217.570914822]: I1220 18:26:57.000000 79146 constraint_builder.cc:240] Node (0, 80) with 70 points on submap (0, 0) differs by translation 0.01 rotation 0.061 with score 76.6%.
[ INFO] [1513823217.998347377]: I1220 18:26:57.000000 79145 constraint_builder.cc:240] Node (0, 83) with 58 points on submap (0, 0) differs by translation 0.01 rotation 0.041 with score 74.6%.
[ INFO] [1513823218.215196244]: I1220 18:26:58.000000 79144 constraint_builder.cc:240] Node (0, 86) with 77 points on submap (0, 0) differs by translation 0.01 rotation 0.028 with score 65.3%.
[ INFO] [1513823220.105649835]: I1220 18:27:00.000000 79086 submaps.cc:190] Added submap 4
[ INFO] [1513823220.145745314]: I1220 18:27:00.000000 79144 constraint_builder.cc:240] Node (0, 8) with 51 points on submap (0, 1) differs by translation 0.05 rotation 0.034 with score 69.7%.
[ INFO] [1513823220.164942725]: I1220 18:27:00.000000 79143 constraint_builder.cc:240] Node (0, 18) with 52 points on submap (0, 1) differs by translation 0.01 rotation 0.002 with score 65.2%.
[ INFO] [1513823220.182951937]: I1220 18:27:00.000000 79145 constraint_builder.cc:240] Node (0, 5) with 46 points on submap (0, 1) differs by translation 0.06 rotation 0.077 with score 66.0%.
[ INFO] [1513823220.185598029]: I1220 18:27:00.000000 79146 constraint_builder.cc:240] Node (0, 1) with 52 points on submap (0, 1) differs by translation 0.01 rotation 0.017 with score 66.4%.
[ INFO] [1513823220.186504925]: I1220 18:27:00.000000 79144 constraint_builder.cc:240] Node (0, 15) with 57 points on submap (0, 1) differs by translation 0.12 rotation 0.214 with score 66.1%.
[ INFO] [1513823220.191803422]: I1220 18:27:00.000000 79146 constraint_builder.cc:240] Node (0, 28) with 34 points on submap (0, 1) differs by translation 0.04 rotation 0.141 with score 80.4%.
[ INFO] [1513823220.194966364]: I1220 18:27:00.000000 79144 constraint_builder.cc:240] Node (0, 31) with 36 points on submap (0, 1) differs by translation 0.06 rotation 0.015 with score 80.5%.
[ INFO] [1513823220.202343041]: I1220 18:27:00.000000 79143 constraint_builder.cc:240] Node (0, 21) with 56 points on submap (0, 1) differs by translation 0.04 rotation 0.082 with score 66.1%.
[ INFO] [1513823220.370008733]: I1220 18:27:00.000000 79145 constraint_builder.cc:261] 22 computations resulted in 13 additional constraints.
[ INFO] [1513823220.370352369]: I1220 18:27:00.000000 79145 constraint_builder.cc:263] Score histogram:
Count: 14 Min: 0.651554 Max: 0.820424 Mean: 0.722631
[0.651554, 0.668441) ######### Count: 6 (42.857143%) Total: 6 (42.857143%)
[0.668441, 0.685328) Count: 0 (0.000000%) Total: 6 (42.857143%)
[0.685328, 0.702215) # Count: 1 (7.142857%) Total: 7 (50.000000%)
[0.702215, 0.719102) Count: 0 (0.000000%) Total: 7 (50.000000%)
[0.719102, 0.735989) Count: 0 (0.000000%) Total: 7 (50.000000%)
[0.735989, 0.752876) ### Count: 2 (14.285714%) Total: 9 (64.285713%)
[0.752876, 0.769763) # Count: 1 (7.142857%) Total: 10 (71.428574%)
[0.769763, 0.786650) # Count: 1 (7.142857%) Total: 11 (78.571426%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 11 (78.571426%)
[0.803537, 0.820424] #### Count: 3 (21.428572%) Total: 14 (100.000000%)
[ INFO] [1513823220.967738362]: I1220 18:27:00.000000 79086 collated_trajectory_builder.cc:69] scan rate: 18.68 Hz 5.35e-02 s +/- 3.63e-03 s (pulsed at 99.99% real time)
[ INFO] [1513823223.428345365]: I1220 18:27:03.000000 79086 submaps.cc:190] Added submap 5
[ INFO] [1513823223.542175654]: I1220 18:27:03.000000 79146 constraint_builder.cc:240] Node (0, 33) with 44 points on submap (0, 2) differs by translation 0.28 rotation 0.330 with score 66.0%.
[ INFO] [1513823223.547989113]: I1220 18:27:03.000000 79143 constraint_builder.cc:240] Node (0, 30) with 33 points on submap (0, 2) differs by translation 0.29 rotation 0.032 with score 66.0%.
[ INFO] [1513823223.568248474]: I1220 18:27:03.000000 79146 constraint_builder.cc:240] Node (0, 40) with 39 points on submap (0, 2) differs by translation 0.25 rotation 0.288 with score 65.7%.
[ INFO] [1513823223.589838926]: I1220 18:27:03.000000 79145 constraint_builder.cc:240] Node (0, 36) with 41 points on submap (0, 2) differs by translation 0.28 rotation 0.254 with score 65.6%.
[ INFO] [1513823223.661856121]: I1220 18:27:03.000000 79144 constraint_builder.cc:240] Node (0, 60) with 68 points on submap (0, 2) differs by translation 0.01 rotation 0.050 with score 68.0%.
[ INFO] [1513823223.676664700]: I1220 18:27:03.000000 79143 constraint_builder.cc:240] Node (0, 56) with 73 points on submap (0, 2) differs by translation 0.01 rotation 0.068 with score 69.5%.
[ INFO] [1513823223.687574159]: I1220 18:27:03.000000 79146 constraint_builder.cc:240] Node (0, 63) with 81 points on submap (0, 2) differs by translation 0.01 rotation 0.032 with score 67.0%.
[ INFO] [1513823223.693522454]: I1220 18:27:03.000000 79145 constraint_builder.cc:240] Node (0, 66) with 73 points on submap (0, 2) differs by translation 0.02 rotation 0.014 with score 65.9%.
[ INFO] [1513823224.252168065]: I1220 18:27:04.000000 79143 constraint_builder.cc:261] 44 computations resulted in 8 additional constraints.
[ INFO] [1513823224.255248632]: I1220 18:27:04.000000 79143 constraint_builder.cc:263] Score histogram:
Count: 22 Min: 0.651554 Max: 0.820424 Mean: 0.702475
[0.651554, 0.668441) ########## Count: 11 (50.000000%) Total: 11 (50.000000%)
[0.668441, 0.685328) ## Count: 2 (9.090909%) Total: 13 (59.090908%)
[0.685328, 0.702215) ## Count: 2 (9.090909%) Total: 15 (68.181816%)
[0.702215, 0.719102) Count: 0 (0.000000%) Total: 15 (68.181816%)
[0.719102, 0.735989) Count: 0 (0.000000%) Total: 15 (68.181816%)
[0.735989, 0.752876) ## Count: 2 (9.090909%) Total: 17 (77.272728%)
[0.752876, 0.769763) # Count: 1 (4.545455%) Total: 18 (81.818184%)
[0.769763, 0.786650) # Count: 1 (4.545455%) Total: 19 (86.363640%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 19 (86.363640%)
[0.803537, 0.820424] ### Count: 3 (13.636364%) Total: 22 (100.000000%)
[ INFO] [1513823233.188154702]: I1220 18:27:13.000000 79086 motion_filter.cc:42] Motion filter reduced the number of nodes to 34.8%.
[ INFO] [1513823233.403385300]: I1220 18:27:13.000000 79086 submaps.cc:190] Added submap 6
[ INFO] [1513823233.534256504]: I1220 18:27:13.000000 79146 constraint_builder.cc:240] Node (0, 28) with 34 points on submap (0, 3) differs by translation 2.13 rotation 0.262 with score 66.8%.
[ INFO] [1513823233.582565994]: I1220 18:27:13.000000 79145 constraint_builder.cc:240] Node (0, 31) with 36 points on submap (0, 3) differs by translation 2.12 rotation 0.197 with score 67.2%.
[ INFO] [1513823233.931851031]: I1220 18:27:13.000000 79144 constraint_builder.cc:240] Node (0, 175) with 98 points on submap (0, 3) differs by translation 0.01 rotation 0.020 with score 73.1%.
[ INFO] [1513823234.668519180]: I1220 18:27:14.000000 79144 constraint_builder.cc:261] 65 computations resulted in 3 additional constraints.
[ INFO] [1513823234.671704114]: I1220 18:27:14.000000 79144 constraint_builder.cc:263] Score histogram:
Count: 25 Min: 0.651554 Max: 0.820424 Mean: 0.701011
[0.651554, 0.668441) ########## Count: 12 (48.000000%) Total: 12 (48.000000%)
[0.668441, 0.685328) ## Count: 3 (12.000000%) Total: 15 (60.000000%)
[0.685328, 0.702215) ## Count: 2 (8.000000%) Total: 17 (68.000000%)
[0.702215, 0.719102) Count: 0 (0.000000%) Total: 17 (68.000000%)
[0.719102, 0.735989) # Count: 1 (4.000000%) Total: 18 (72.000000%)
[0.735989, 0.752876) ## Count: 2 (8.000000%) Total: 20 (80.000000%)
[0.752876, 0.769763) # Count: 1 (4.000000%) Total: 21 (84.000000%)
[0.769763, 0.786650) # Count: 1 (4.000000%) Total: 22 (88.000000%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 22 (88.000000%)
[0.803537, 0.820424] ## Count: 3 (12.000000%) Total: 25 (100.000000%)
[ INFO] [1513823236.023500896]: I1220 18:27:16.000000 79086 collated_trajectory_builder.cc:69] scan rate: 18.34 Hz 5.45e-02 s +/- 3.11e-03 s (pulsed at 100.00% real time)
[ INFO] [1513823240.084645100]: I1220 18:27:20.000000 79086 submaps.cc:190] Added submap 7
[ INFO] [1513823244.802785395]: I1220 18:27:24.000000 79086 submaps.cc:190] Added submap 8
[ INFO] [1513823248.009838012]: I1220 18:27:28.000000 79144 pose_graph.cc:341] Remaining work items in queue: 52
[ INFO] [1513823248.078476850]: I1220 18:27:28.000000 79145 constraint_builder.cc:240] Node (0, 180) with 102 points on submap (0, 3) differs by translation 0.05 rotation 0.036 with score 65.6%.
[ INFO] [1513823248.251738643]: I1220 18:27:28.000000 79144 constraint_builder.cc:240] Node (0, 200) with 101 points on submap (0, 3) differs by translation 0.04 rotation 0.015 with score 68.3%.
[ INFO] [1513823248.315485429]: I1220 18:27:28.000000 79144 constraint_builder.cc:240] Node (0, 207) with 100 points on submap (0, 2) differs by translation 0.04 rotation 0.029 with score 67.6%.
[ INFO] [1513823248.321142578]: I1220 18:27:28.000000 79143 constraint_builder.cc:240] Node (0, 205) with 102 points on submap (0, 3) differs by translation 0.05 rotation 0.019 with score 65.9%.
[ INFO] [1513823248.386302499]: I1220 18:27:28.000000 79144 constraint_builder.cc:240] Node (0, 210) with 100 points on submap (0, 3) differs by translation 0.04 rotation 0.008 with score 65.5%.
[ INFO] [1513823248.435766870]: I1220 18:27:28.000000 79145 constraint_builder.cc:240] Node (0, 214) with 98 points on submap (0, 3) differs by translation 0.06 rotation 0.026 with score 66.8%.
[ INFO] [1513823248.522084702]: I1220 18:27:28.000000 79143 constraint_builder.cc:240] Node (0, 30) with 33 points on submap (0, 4) differs by translation 1.11 rotation 0.504 with score 67.2%.
[ INFO] [1513823248.909244439]: I1220 18:27:28.000000 79143 constraint_builder.cc:240] Node (0, 130) with 103 points on submap (0, 4) differs by translation 0.02 rotation 0.032 with score 74.8%.
[ INFO] [1513823248.910668523]: I1220 18:27:28.000000 79145 constraint_builder.cc:240] Node (0, 133) with 100 points on submap (0, 4) differs by translation 0.02 rotation 0.024 with score 77.1%.
[ INFO] [1513823248.911165126]: I1220 18:27:28.000000 79144 constraint_builder.cc:240] Node (0, 126) with 102 points on submap (0, 4) differs by translation 0.01 rotation 0.031 with score 77.9%.
[ INFO] [1513823248.911776089]: I1220 18:27:28.000000 79146 constraint_builder.cc:240] Node (0, 123) with 102 points on submap (0, 4) differs by translation 0.01 rotation 0.018 with score 67.9%.
[ INFO] [1513823248.914864221]: I1220 18:27:28.000000 79143 constraint_builder.cc:240] Node (0, 136) with 105 points on submap (0, 4) differs by translation 0.01 rotation 0.019 with score 76.2%.
[ INFO] [1513823248.916887376]: I1220 18:27:28.000000 79143 constraint_builder.cc:261] 87 computations resulted in 12 additional constraints.
[ INFO] [1513823248.917120105]: I1220 18:27:28.000000 79143 constraint_builder.cc:263] Score histogram:
Count: 37 Min: 0.651554 Max: 0.820424 Mean: 0.700866
[0.651554, 0.668441) ######### Count: 16 (43.243244%) Total: 16 (43.243244%)
[0.668441, 0.685328) #### Count: 7 (18.918919%) Total: 23 (62.162163%)
[0.685328, 0.702215) # Count: 2 (5.405406%) Total: 25 (67.567566%)
[0.702215, 0.719102) Count: 0 (0.000000%) Total: 25 (67.567566%)
[0.719102, 0.735989) # Count: 1 (2.702703%) Total: 26 (70.270271%)
[0.735989, 0.752876) ## Count: 3 (8.108109%) Total: 29 (78.378380%)
[0.752876, 0.769763) # Count: 2 (5.405406%) Total: 31 (83.783783%)
[0.769763, 0.786650) ## Count: 3 (8.108109%) Total: 34 (91.891891%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 34 (91.891891%)
[0.803537, 0.820424] ## Count: 3 (8.108109%) Total: 37 (100.000000%)
[ INFO] [1513823250.654150007]: I1220 18:27:30.000000 79086 submaps.cc:190] Added submap 9
[ INFO] [1513823251.027584690]: I1220 18:27:31.000000 79086 collated_trajectory_builder.cc:69] scan rate: 18.59 Hz 5.38e-02 s +/- 3.92e-03 s (pulsed at 100.00% real time)
[ INFO] [1513823259.155072551]: I1220 18:27:39.000000 79086 submaps.cc:190] Added submap 10
[ INFO] [1513823260.074468621]: I1220 18:27:40.000000 79086 motion_filter.cc:42] Motion filter reduced the number of nodes to 32.8%.
[ INFO] [1513823263.538881770]: I1220 18:27:43.000000 79086 submaps.cc:190] Added submap 11
[ INFO] [1513823263.758903020]: I1220 18:27:43.000000 79143 pose_graph.cc:341] Remaining work items in queue: 100
[ INFO] [1513823263.783135570]: I1220 18:27:43.000000 79145 constraint_builder.cc:240] Node (0, 216) with 100 points on submap (0, 3) differs by translation 0.00 rotation 0.011 with score 72.9%.
[ INFO] [1513823263.795379578]: I1220 18:27:43.000000 79146 constraint_builder.cc:240] Node (0, 218) with 100 points on submap (0, 3) differs by translation 0.01 rotation 0.008 with score 70.6%.
[ INFO] [1513823263.827180123]: I1220 18:27:43.000000 79144 constraint_builder.cc:240] Node (0, 220) with 101 points on submap (0, 3) differs by translation 0.00 rotation 0.020 with score 69.9%.
[ INFO] [1513823263.838558495]: I1220 18:27:43.000000 79143 constraint_builder.cc:240] Node (0, 222) with 102 points on submap (0, 3) differs by translation 0.02 rotation 0.011 with score 68.7%.
[ INFO] [1513823263.889018403]: I1220 18:27:43.000000 79145 constraint_builder.cc:240] Node (0, 224) with 101 points on submap (0, 3) differs by translation 0.01 rotation 0.018 with score 67.4%.
[ INFO] [1513823263.892540632]: I1220 18:27:43.000000 79144 constraint_builder.cc:240] Node (0, 228) with 100 points on submap (0, 3) differs by translation 0.02 rotation 0.001 with score 68.6%.
[ INFO] [1513823263.894173786]: I1220 18:27:43.000000 79146 constraint_builder.cc:240] Node (0, 226) with 101 points on submap (0, 3) differs by translation 0.01 rotation 0.010 with score 70.1%.
[ INFO] [1513823263.942004901]: I1220 18:27:43.000000 79144 constraint_builder.cc:240] Node (0, 230) with 100 points on submap (0, 3) differs by translation 0.01 rotation 0.008 with score 71.5%.
[ INFO] [1513823264.021737045]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 232) with 104 points on submap (0, 3) differs by translation 0.02 rotation 0.004 with score 69.8%.
[ INFO] [1513823264.035452461]: I1220 18:27:44.000000 79144 constraint_builder.cc:240] Node (0, 234) with 101 points on submap (0, 3) differs by translation 0.01 rotation 0.005 with score 66.6%.
[ INFO] [1513823264.044930311]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 236) with 102 points on submap (0, 3) differs by translation 0.02 rotation 0.005 with score 69.3%.
[ INFO] [1513823264.099527775]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 238) with 103 points on submap (0, 3) differs by translation 0.02 rotation 0.002 with score 66.6%.
[ INFO] [1513823264.150499180]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 242) with 100 points on submap (0, 3) differs by translation 0.03 rotation 0.005 with score 69.8%.
[ INFO] [1513823264.155979823]: I1220 18:27:44.000000 79145 constraint_builder.cc:240] Node (0, 240) with 103 points on submap (0, 3) differs by translation 0.02 rotation 0.001 with score 67.6%.
[ INFO] [1513823264.196129646]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 244) with 100 points on submap (0, 3) differs by translation 0.02 rotation 0.012 with score 66.0%.
[ INFO] [1513823264.240859930]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 245) with 102 points on submap (0, 3) differs by translation 0.02 rotation 0.017 with score 65.6%.
[ INFO] [1513823264.340196404]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 250) with 102 points on submap (0, 3) differs by translation 0.02 rotation 0.003 with score 65.9%.
[ INFO] [1513823264.802270955]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 118) with 100 points on submap (0, 5) differs by translation 0.03 rotation 0.020 with score 71.3%.
[ INFO] [1513823264.808426942]: I1220 18:27:44.000000 79144 constraint_builder.cc:240] Node (0, 115) with 100 points on submap (0, 5) differs by translation 0.03 rotation 0.035 with score 69.6%.
[ INFO] [1513823264.823537537]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 111) with 96 points on submap (0, 5) differs by translation 0.02 rotation 0.041 with score 66.2%.
[ INFO] [1513823264.843381607]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 131) with 100 points on submap (0, 5) differs by translation 0.01 rotation 0.027 with score 72.2%.
[ INFO] [1513823264.857014427]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 121) with 102 points on submap (0, 5) differs by translation 0.02 rotation 0.040 with score 66.8%.
[ INFO] [1513823264.863003572]: I1220 18:27:44.000000 79145 constraint_builder.cc:240] Node (0, 125) with 104 points on submap (0, 5) differs by translation 0.02 rotation 0.031 with score 71.9%.
[ INFO] [1513823264.867747511]: I1220 18:27:44.000000 79144 constraint_builder.cc:240] Node (0, 128) with 102 points on submap (0, 5) differs by translation 0.02 rotation 0.037 with score 70.9%.
[ INFO] [1513823264.905203864]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 138) with 106 points on submap (0, 5) differs by translation 0.01 rotation 0.022 with score 67.1%.
[ INFO] [1513823264.942416665]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 135) with 101 points on submap (0, 5) differs by translation 0.01 rotation 0.030 with score 66.8%.
[ INFO] [1513823264.947800801]: I1220 18:27:44.000000 79145 constraint_builder.cc:240] Node (0, 141) with 100 points on submap (0, 5) differs by translation 0.01 rotation 0.032 with score 68.3%.
[ INFO] [1513823264.976377974]: I1220 18:27:44.000000 79144 constraint_builder.cc:240] Node (0, 145) with 101 points on submap (0, 5) differs by translation 0.02 rotation 0.036 with score 65.6%.
[ INFO] [1513823265.058563881]: I1220 18:27:45.000000 79143 constraint_builder.cc:240] Node (0, 248) with 100 points on submap (0, 5) differs by translation 0.00 rotation 0.004 with score 71.6%.
[ INFO] [1513823265.063434377]: I1220 18:27:45.000000 79143 constraint_builder.cc:261] 109 computations resulted in 29 additional constraints.
[ INFO] [1513823265.064132437]: I1220 18:27:45.000000 79143 constraint_builder.cc:263] Score histogram:
Count: 66 Min: 0.651554 Max: 0.820424 Mean: 0.695203
[0.651554, 0.668441) ######## Count: 25 (37.878788%) Total: 25 (37.878788%)
[0.668441, 0.685328) ### Count: 11 (16.666666%) Total: 36 (54.545456%)
[0.685328, 0.702215) ### Count: 10 (15.151515%) Total: 46 (69.696968%)
[0.702215, 0.719102) ## Count: 6 (9.090909%) Total: 52 (78.787880%)
[0.719102, 0.735989) # Count: 3 (4.545455%) Total: 55 (83.333336%)
[0.735989, 0.752876) # Count: 3 (4.545455%) Total: 58 (87.878784%)
[0.752876, 0.769763) # Count: 2 (3.030303%) Total: 60 (90.909088%)
[0.769763, 0.786650) # Count: 3 (4.545455%) Total: 63 (95.454544%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 63 (95.454544%)
[0.803537, 0.820424] # Count: 3 (4.545455%) Total: 66 (100.000000%)
[ INFO] [1513823266.066329570]: I1220 18:27:46.000000 79086 collated_trajectory_builder.cc:69] scan rate: 18.69 Hz 5.35e-02 s +/- 3.68e-03 s (pulsed at 99.95% real time)
[ INFO] [1513823271.104074195]: I1220 18:27:51.000000 79086 submaps.cc:190] Added submap 12
[ INFO] [1513823274.626924936]: I1220 18:27:54.000000 79086 submaps.cc:190] Added submap 13
[ INFO] [1513823279.319125369]: I1220 18:27:59.000000 79143 pose_graph.cc:341] Remaining work items in queue: 160
[ INFO] [1513823279.387486802]: I1220 18:27:59.000000 79143 constraint_builder.cc:240] Node (0, 253) with 101 points on submap (0, 5) differs by translation 0.02 rotation 0.022 with score 68.0%.
[ INFO] [1513823279.634850301]: I1220 18:27:59.000000 79146 constraint_builder.cc:240] Node (0, 268) with 100 points on submap (0, 5) differs by translation 0.02 rotation 0.017 with score 67.6%.
[ INFO] [1513823279.875451145]: I1220 18:27:59.000000 79086 submaps.cc:190] Added submap 14
[ INFO] [1513823279.991850800]: I1220 18:27:59.000000 79144 constraint_builder.cc:240] Node (0, 30) with 33 points on submap (0, 6) differs by translation 0.33 rotation 0.009 with score 69.9%.
[ INFO] [1513823280.291940778]: I1220 18:28:00.000000 79146 constraint_builder.cc:240] Node (0, 116) with 101 points on submap (0, 6) differs by translation 0.02 rotation 0.023 with score 71.8%.
[ INFO] [1513823280.313565622]: I1220 18:28:00.000000 79145 constraint_builder.cc:240] Node (0, 113) with 101 points on submap (0, 6) differs by translation 0.02 rotation 0.025 with score 73.5%.
[ INFO] [1513823280.328324416]: I1220 18:28:00.000000 79143 constraint_builder.cc:240] Node (0, 110) with 97 points on submap (0, 6) differs by translation 0.02 rotation 0.002 with score 66.2%.
[ INFO] [1513823280.344198126]: I1220 18:28:00.000000 79144 constraint_builder.cc:240] Node (0, 120) with 101 points on submap (0, 6) differs by translation 0.01 rotation 0.013 with score 70.1%.
[ INFO] [1513823280.352632988]: I1220 18:28:00.000000 79145 constraint_builder.cc:240] Node (0, 126) with 102 points on submap (0, 6) differs by translation 0.00 rotation 0.017 with score 67.5%.
[ INFO] [1513823280.604184071]: I1220 18:28:00.000000 79145 constraint_builder.cc:240] Node (0, 280) with 101 points on submap (0, 6) differs by translation 0.00 rotation 0.001 with score 71.0%.
[ INFO] [1513823280.635098049]: I1220 18:28:00.000000 79144 constraint_builder.cc:240] Node (0, 281) with 103 points on submap (0, 6) differs by translation 0.00 rotation 0.004 with score 71.2%.
[ INFO] [1513823280.636964565]: I1220 18:28:00.000000 79143 constraint_builder.cc:240] Node (0, 282) with 102 points on submap (0, 6) differs by translation 0.00 rotation 0.010 with score 69.4%.
[ INFO] [1513823280.637411228]: I1220 18:28:00.000000 79143 constraint_builder.cc:261] 130 computations resulted in 11 additional constraints.
[ INFO] [1513823280.637624095]: I1220 18:28:00.000000 79143 constraint_builder.cc:263] Score histogram:
Count: 77 Min: 0.651554 Max: 0.820424 Mean: 0.695395
[0.651554, 0.668441) ####### Count: 26 (33.766235%) Total: 26 (33.766235%)
[0.668441, 0.685328) #### Count: 14 (18.181818%) Total: 40 (51.948051%)
[0.685328, 0.702215) ### Count: 13 (16.883118%) Total: 53 (68.831169%)
[0.702215, 0.719102) ## Count: 9 (11.688312%) Total: 62 (80.519478%)
[0.719102, 0.735989) # Count: 4 (5.194805%) Total: 66 (85.714287%)
[0.735989, 0.752876) # Count: 3 (3.896104%) Total: 69 (89.610390%)
[0.752876, 0.769763) # Count: 2 (2.597403%) Total: 71 (92.207794%)
[0.769763, 0.786650) # Count: 3 (3.896104%) Total: 74 (96.103897%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 74 (96.103897%)
[0.803537, 0.820424] # Count: 3 (3.896104%) Total: 77 (100.000000%)
[ INFO] [1513823281.121203749]: I1220 18:28:01.000000 79086 collated_trajectory_builder.cc:69] scan rate: 18.39 Hz 5.44e-02 s +/- 3.17e-03 s (pulsed at 100.02% real time)
[ INFO] [1513823287.151945618]: I1220 18:28:07.000000 79086 motion_filter.cc:42] Motion filter reduced the number of nodes to 31.9333%.
[ INFO] [1513823289.899679581]: I1220 18:28:09.000000 79086 submaps.cc:190] Added submap 15
^C[rviz-3] killing on exit
[cartographer_occupancy_grid_node-2] killing on exit
[cartographer_node-1] killing on exit
Optimizing: 16.2%...[cartographer_node-1] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done
作者：太一吾鱼水
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