cartographer-project/cartographer_mir

Cartographer configuration files for the MiR 100

Cartographer ROS for Mobile Industrial Robots Platforms

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This repository provides Cartographer SLAM for Mobile Industrial Robots platforms via Cartographer ROS.

Documentation

You will find complete documentation for using Cartographer ROS with Mobile Industrial Robots platforms at our Read the Docs site.

Contributing

You can find information about contributing to Cartographer ROS's MiR platforms support at our Contribution page.

cartographer_mir's Issues

Key 'collate_landmarks' was used the wrong number of times

I'm learning the cartographer these days. I have successfully run the 2D backpack demo and the 3D backpack demo. However, I face a problem when I run the Static Landmarks demo.
Here is the problem.
I have install the "cartographer_mir" successfully. When I try to launch the landmarks demo as guided by https://google-cartographer-ros.readthedocs.io/en/latest/demos.html:
roslaunch cartographer_mir offline_mir_100_rviz.launch bag_filename:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag
, I meet the following error:

[...../offline_mir_100_rviz.launch] requires the 'bag_filenames' arg to be set

So I checked the "offline_mir_100_rviz.launch" file and found that the arg name is 'bag_filenames' instead of ‘bag_filename’. So a 's' is missing in the commend line shown in https://google-cartographer-ros.readthedocs.io/en/latest/demos.html.

However, I meet another error when I fix this problem:

[FATAL] [1542782924.721540472]: F1121 14:48:44.000000 27311 lua_parameter_dictionary.cc:410] Check failed: 1 == reference_counts_.count(key) (1 vs. 0) Key 'collate_landmarks' was used the wrong number of times.

I checked the configurations file: /cartographer_mir/cartographer_mir/configuration_files/mir-100-mapping.lua. I found that the parameter "collate_landmarks" is set to be false. So I modify it to be true as following:
TRAJECTORY_BUILDER.collate_landmarks = true

However, the error is same:

[FATAL] [1542782924.721540472]: F1121 14:48:44.000000 27311 lua_parameter_dictionary.cc:410] Check failed: 1 == reference_counts_.count(key) (1 vs. 0) Key 'collate_landmarks' was used the wrong number of times.

Could someone to help me? I don't know what's the problem.