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lidarslam_ros2 Requested time 163.401000 but the latest data is at time 163.400000,

lidarslam_ros2 的3d建图出现不匹配
 [scanmatcher_node-1] [ERROR] [1725242213.542805641] [scan_matcher]: Lookup would require extrapolation into the future.  Requested time 163.401000 but the latest data is at time 163.400000, when looking up transform from frame [base_link] to frame [odom]
2024-09-02 添加评论
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没有找到相关结果

    已邀请:

    ncnynl

    赞同来自:

    这个问题仿真时候odom的更新频率不够快，提升更新频率即可。可以参考解决方法
     
    controller_manager:
    
  ros__parameters:
    
    update_rate: 300 #for sim    # update_rate: 50  #for real
    
    use_sim_time: False
    

    
    right_wheel_radius_multiplier: 1.0
    
    publish_rate: 100.0 #for sim  # publish_rate: 50.0 #for real
    
    odom_frame_id: 'odom'
    
    base_frame_id: 'base_link'
    2024-09-02 0 0
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