Commits on Jun 2, 2020

1. Added a flat_world_odom_node. Cartographer crashed not only when an /imu …

   message arrives out of order, but also when an /odom message is out of
   order. I will add diagnose files with the next commit so you can verify
   the issue. I will also add an python script to debug the captured data.
   
   A little background:
   
   I'm using cartographer with a kinect camera on the turtlebot3 burger
   + ros melodic. I'm a beginner with ros. Using cartographer in 2D mode
   worked pretty fine. When i switched to 3D mode, the cartographer crashed
   a lot with the following error:
   
   [FATAL] [1591025245.229967139]: F0601 17:27:25.000000 20863
   pose_extrapolator.cc:229] Check failed: time >= imu_tracker->time()
   (637266220451080319 vs. 637266220451179130)
   
   I found out, that the flat_world_imu_node orders the message by timestamp
   by ignoring messages with a lower timestamp. I wrote a script checking all
   the topics for this kind of behavior and found out, that odom is not always
   in the right order. When you take a look at the two files in the next commit
   called odom_diag.txt and imu_diag.txt you will find an error on Seq 260784 in
   odom_diag.txt. The error is in the nanoseconds timestamp. The messages are
   transmitted via 802.11ac. I captured the messages using rostopic echo.
   
   I don't know if it helps anyone with the same problem but i hope so. Maybe
   rename the node before implementing this it is a quick fix for my bachelor thesis.
   
   Greetings from germany
   Happy Pride / Black Lives Matter

   

   ChristofGroschke committed Jun 2, 2020
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