octomap(1):octomap_server报错MessageFilter [target=odom_combined ]: Dropped 100.00% of messages so far

2024-05-13 15:30:15

报错：

[ WARN] [1652516663.964101392]: MessageFilter [target=odom_combined ]: Dropped 100.00% of messages so far. Please turn the [ros.octomap_server.message_filter] rosconsole logger to DEBUG for more information.

报错原因：

启动octomap建图时，ros系统中的坐标转换（tf，transform frame）不正确，默认的frame_id“odom_combined”（上图箭头处），不能与tf树建立联系。

这里参考了这个进行分析，不过它不针对octomap这个问题：https://blog.csdn.net/just_do_it567/article/details/115673347

解决方法：

最简单的解决方法就是把octomap的坐标系直接换成激光雷达点云坐标系/其他传感器坐标系，或者定位、slam输出的坐标系，这里改成了kitti数据的坐标系

     <!-- <param name="frame_id" type="string" value="odom_combined" /> 修改坐标系--><param name="frame_id" type="string" value="velo_link" />

修改后的octomap_mapping.launch文件如下：

<!-- Example launch file for octomap_server mapping: Listens to incoming PointCloud2 data and incrementally builds an octomap. The data is sent out in different representations. Copy this file into your workspace and adjust as needed, seewww.ros.org/wiki/octomap_server for details
-->
<launch><node pkg="octomap_server" type="octomap_server_node" name="octomap_server"><param name="resolution" value="0.05" /><!-- fixed map frame (set to 'map' if SLAM or localization running!) --><!-- <param name="frame_id" type="string" value="odom_combined" /> 修改坐标系--><param name="frame_id" type="string" value="velo_link" />   <!-- maximum range to integrate (speedup!) 传感器数据半径，可能需要修改，默认为5.0可能有些小--><param name="sensor_model/max_range" value="35.0" /><!-- data source to integrate (PointCloud2) 输入点云--><remap from="cloud_in" to="/points_ground" /><!-- <remap from="cloud_in" to="/points_no_ground" />   --></node>
</launch>

参考链接：

ros wiki octomap_server：octomap_server - ROS Wiki

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