{"action":"created","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/867","repository_url":"https://api.github.com/repos/googlecartographer/cartographer_ros","labels_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/867/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/867/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/867/events","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/867","id":323035595,"number":867,"title":"How can I get a 3D pointcloud map using cartographer?","user":{"login":"DriftingTimmy","id":24770425,"avatar_url":"https://avatars1.githubusercontent.com/u/24770425?v=4","gravatar_id":"","url":"https://api.github.com/users/DriftingTimmy","html_url":"https://github.com/DriftingTimmy","followers_url":"https://api.github.com/users/DriftingTimmy/followers","following_url":"https://api.github.com/users/DriftingTimmy/following{/other_user}","gists_url":"https://api.github.com/users/DriftingTimmy/gists{/gist_id}","starred_url":"https://api.github.com/users/DriftingTimmy/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DriftingTimmy/subscriptions","organizations_url":"https://api.github.com/users/DriftingTimmy/orgs","repos_url":"https://api.github.com/users/DriftingTimmy/repos","events_url":"https://api.github.com/users/DriftingTimmy/events{/privacy}","received_events_url":"https://api.github.com/users/DriftingTimmy/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":5,"created_at":"2018-05-15T01:31:29Z","updated_at":"2018-05-15T08:05:50Z","closed_at":null,"author_association":"NONE","body":"After tuning the urdf and lua configuration, I run the cartographer and get a useful trajectory.\r\nAccording to the tutorial, I called the \"/write_state\" service to get a .pbstream file, using the command:\r\n\r\n        rosservice call /write_state ${HOME}/Downloads/test_save.1.bag.pbstream.\r\n\r\n And I get an error like:\r\n\r\n        ERROR: Unable to load type [cartographer_ros_msgs/WriteState].\r\n        Have you typed 'make' in [cartographer_ros_msgs]?\r\n\r\nI know the .pbstream file is the input of the asset_writer node to generate the 3D pointcloud map. So I want to know how to get it down. Because it is not about the tuning, I decide not to upload the config files.\r\n\r\nThanks a lot!\r\n"},"comment":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/comments/389080429","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/867#issuecomment-389080429","issue_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/867","id":389080429,"user":{"login":"DriftingTimmy","id":24770425,"avatar_url":"https://avatars1.githubusercontent.com/u/24770425?v=4","gravatar_id":"","url":"https://api.github.com/users/DriftingTimmy","html_url":"https://github.com/DriftingTimmy","followers_url":"https://api.github.com/users/DriftingTimmy/followers","following_url":"https://api.github.com/users/DriftingTimmy/following{/other_user}","gists_url":"https://api.github.com/users/DriftingTimmy/gists{/gist_id}","starred_url":"https://api.github.com/users/DriftingTimmy/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DriftingTimmy/subscriptions","organizations_url":"https://api.github.com/users/DriftingTimmy/orgs","repos_url":"https://api.github.com/users/DriftingTimmy/repos","events_url":"https://api.github.com/users/DriftingTimmy/events{/privacy}","received_events_url":"https://api.github.com/users/DriftingTimmy/received_events","type":"User","site_admin":false},"created_at":"2018-05-15T08:05:50Z","updated_at":"2018-05-15T08:05:50Z","author_association":"NONE","body":"@kentsommer  Well, I think u mean that I need to make sure that the configuration file is correct.\r\nActually, I think my configuration is all right and the corresponding frames are the same. The tracking frame is \"imu\". \r\nHere are some probable problems. Should I run the cartographer_node and the asset_writer node at the same time? I tried but I failed on the same error. Then maybe I run the wrong command at the first time getting the  .pbstream  file? I just call this service when rosbag is done, should I call this service at the beginning of the rosbag time? And I m going to check the asset_writer docs to find the mistakes.\r\nThanks~"}}
{"actor":{"display_login":"DriftingTimmy"}}