问题一：
 
设置完机器人的urdf模型，再运行slam建图程序出现一下报错
Warning: TF_OLD_DATA ignoring data from the past for frame imu_link at time 1.56379e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp

Warning: TF_OLD_DATA ignoring data from the past for frame imu_link at time 1.56379e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
解决方法：
 
经检查发现是tf变换冲突，本来启动imu的launch文件里面写了tf变换，这跟urdf里面设置的重复了，注释掉启动imu的launch文件中的tf变换语句后，程序运行正常

问题二：
 
测试karto算法建图时，发现rviz中有一系列连续的黑点，其为机器人已走过的痕迹，之前在tb3上也遇到过这样的问题





 
待解决： 
参考资料：
https://answers.ros.org/question/232523/slam_karto-marks-grid-cell-underneath-real-robot-as-occupied/ 查看全部