I used cartographer to build my map using 3d lidar data and imu data. Because of some reasons, my trajectory keep climbing while the programme run, but the real environment has little difference in Z direction. And I think my imu is not that reliable, how can I change the parameter to make the trajectory on the same level plane?

Here is the constraint_list shown in my rviz:

And here is my configuration file: configuration.zip

One way I think may work is tuning the rotation_weight in ceres_scan_matcher, but I am not sure.

Hi Authors and other Contributors Let me start by thanking you all for writing Cartographer and open-sourcing it. It adds immense value to the robotics society as it is probably the only SLAM algorithm as of now that is field-ready. Great job!

I am using Cartographer with our in-house framework to create a solution for a long-term 2D mapping and localization. For the implementation to be truly long-term, I need to add the ability of being able to save the pose of the robot, sub-maps and the pose-graph(SPA) on shutdown and load them back into cartographer on subsequent startup of the software. I will be beginning my efforts on this very soon and was wondering if you guys have any thoughts, pointers to references or inputs before I begin. I would be more than happy to collaborate as suitable.

Here's a quick brain dump of what I think needs to be done to accomplish this:

• Serialization, saving, loading and construction of sub-maps in local trajectory builder(front-end) and sparse pose graph in global trajectory builder.

• Saving and loading of robot pose(with covariance?) and instantiation of map builder with this pose as the starting point.

• A global matching scheme to match the new scans to the loaded sub-maps in the vicinity(scaled based on covariance?) of the seed pose before cartographer resurrects and operates as normal. May be?

• A strategy to appropriately kick-start the internal kalman filters. Not sure how the time-jump will affect those.

• Swapping in new laser frames to replace stale frames in the pose-graph that are no longer representative of the environment. Also limiting the insertion of laser scans to situations when new area is being explored or when swapping out an stale scan . This will

  1. Avoid growth of pose-graph over course of time to an intractable number of constraints.
  2. Make the pose-graph adaptive to the long-term, slow changes in the environment.

Please do share your thoughts that you think might help. I will be updating this post as I think of more items.

Thanks

-- Anurag

error at: [245/327] Building CXX object cartogra...dir/fast_correlative_scan_matcher.cc.o FAILED: /usr/bin/c++ -O3 -DNDEBUG -isystem /usr/include/eigen3 -isystem /usr/local/include -I. -I.. -I../cartographer/common/{Boost_INCLUDE_DIRS} -isystem /usr/include/lua5.2 -O3 -DNDEBUG -std=c++11 -Wall -Wpedantic -Werror=format-security -Werror=return-type -Werror=uninitialized -MMD -MT cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_fast_correlative_scan_matcher.dir/fast_correlative_scan_matcher.cc.o -MF "cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_fast_correlative_scan_matcher.dir/fast_correlative_scan_matcher.cc.o.d" -o cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_fast_correlative_scan_matcher.dir/fast_correlative_scan_matcher.cc.o -c ../cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.cc In file included from /opt/eigen/Eigen/Geometry:39:0, from /opt/eigen/Eigen/Dense:6, from /usr/local/include/ceres/internal/numeric_diff.h:40, from /usr/local/include/ceres/dynamic_numeric_diff_cost_function.h:70, from /usr/local/include/ceres/ceres.h:44, from ../cartographer/common/math.h:25, from ../cartographer/mapping_2d/probability_grid.h:28, from ../cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h:33, from ../cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.cc:17: /opt/eigen/Eigen/src/Geometry/Rotation2D.h: In instantiation of ‘Eigen::Rotation2D Eigen::Rotation2D::operator_(const Eigen::Rotation2D&) const [with Scalar = double]’: ../cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.cc:270:73: required from here /opt/eigen/Eigen/src/Geometry/Rotation2D.h:78:28: error: could not convert ‘(((Eigen::Rotation2D::Scalar)((const Eigen::Rotation2D)this)->Eigen::Rotation2D::m_angle) + ((Eigen::Rotation2D::Scalar)other.Eigen::Rotation2D::m_angle))’ from ‘Eigen::Rotation2D::Scalar {aka double}’ to ‘Eigen::Rotation2D’ { return m_angle + other.m_angle; } ^ [245/327] Building CXX object cartogra...eal_time_correlative_scan_matcher.cc.o FAILED: /usr/bin/c++ -O3 -DNDEBUG -isystem /usr/include/eigen3 -isystem /usr/local/include -I. -I.. -isystem /usr/include/lua5.2 -I../cartographer/common/{Boost_INCLUDE_DIRS} -O3 -DNDEBUG -std=c++11 -Wall -Wpedantic -Werror=format-security -Werror=return-type -Werror=uninitialized -MMD -MT cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_real_time_correlative_scan_matcher.dir/real_time_correlative_scan_matcher.cc.o -MF "cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_real_time_correlative_scan_matcher.dir/real_time_correlative_scan_matcher.cc.o.d" -o cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_real_time_correlative_scan_matcher.dir/real_time_correlative_scan_matcher.cc.o -c ../cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.cc In file included from /opt/eigen/Eigen/Geometry:39:0, from /opt/eigen/Eigen/Dense:6, from /usr/local/include/ceres/internal/numeric_diff.h:40, from /usr/local/include/ceres/dynamic_numeric_diff_cost_function.h:70, from /usr/local/include/ceres/ceres.h:44, from ../cartographer/common/math.h:25, from ../cartographer/mapping_2d/probability_grid.h:28, from ../cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h:44, from ../cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.cc:17: /opt/eigen/Eigen/src/Geometry/Rotation2D.h: In instantiation of ‘Eigen::Rotation2D Eigen::Rotation2D::operator_(const Eigen::Rotation2D&) const [with Scalar = double]’: ../cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.cc:123:71: required from here /opt/eigen/Eigen/src/Geometry/Rotation2D.h:78:28: error: could not convert ‘(((Eigen::Rotation2D::Scalar)((const Eigen::Rotation2D)this)->Eigen::Rotation2D::m_angle) + ((Eigen::Rotation2D::Scalar)other.Eigen::Rotation2D::m_angle))’ from ‘Eigen::Rotation2D::Scalar {aka double}’ to ‘Eigen::Rotation2D’ { return m_angle + other.m_angle; } ^ [245/327] Building CXX object cartogra....dir/trajectory_connectivity_test.cc.o

ninja: build stopped: subcommand failed.

plz help~

In recent PRs (#503, #488), keeping range data in memory (in trajectory nodes) has been removed from libcartographer. Users of libcartographer who used this data (e.g for realtime map rebuilding as discussed in https://github.com/googlecartographer/cartographer_ros/issues/475, or to implement something like #415) are now out of luck.

Would you consider bringing this back, for example as a configurable option (either runtime or compile time)? This way, if you require the range data, you can sacrifice some memory and keep it around; otherwise (and by default), behavior is like in the present implementation, with reduced memory usage. This would be the best of both worlds. Then, for example, the realtime map building functionality would depend on this option being enabled; otherwise, you have to use the assets writer, which would retrieve the range data from the bag.

This is using the same dataset as in #453, which was another regression that caused a drastic decrease in quality on that dataset.

I did a git bisect:

3948943b6491ad07dd4c6ba8e71cb4d03b27a5bf is the first bad commit
commit 3948943b6491ad07dd4c6ba8e71cb4d03b27a5bf
Author: Wolfgang Hess <[email protected]>
Date:   Mon Sep 4 11:14:51 2017 +0200

    Use EstimateGravityOrientation() in 2D SLAM. (#499)

Here's with e3b6f0a:

...and with 3948943:

Here is the updated pioneer-cartographer.lua (please use this one instead of the one in #453). Also, please use cartographer_ros with rangefinder decimation (if it doesn't get merged by the time you are reading this): googlecartographer/[email protected].

I'm installing cartographer_ros in ubuntu 14.04 and ROS indigo. gcc version is 4.8. Through the instruction of https://google-cartographer-ros.readthedocs.io/en/latest/ I build a ros-workspace named cartographer_ws(Cause I already have a workspace named catkin_ws) When I try to execute catkin_make_isolated --install --use-ninja

I got output like that:

==> Processing catkin package: 'cartographer_ros'
==> Building with env: '/home/tyler/cartographer_ws/install_isolated/env.sh'
==> cmake /home/tyler/cartographer_ws/src/cartographer_ros/cartographer_ros -DCATKIN_DEVEL_PREFIX=/home/tyler/cartographer_ws/devel_isolated/cartographer_ros -DCMAKE_INSTALL_PREFIX=/home/tyler/cartographer_ws/install_isolated -G Ninja in '/home/tyler/cartographer_ws/build_isolated/cartographer_ros'
-- Found required Ceres dependency: Eigen version 3.2.8 in /usr/local/include/eigen3
-- Found required Ceres dependency: Glog in /usr/include
-- Found Ceres version: 1.11.0 installed in: /home/tyler/cartographer_ws/install_isolated
-- Build type: Release
-- Using CATKIN_DEVEL_PREFIX: /home/tyler/cartographer_ws/devel_isolated/cartographer_ros
-- Using CMAKE_PREFIX_PATH: /home/tyler/cartographer_ws/install_isolated;/opt/ros/indigo
-- This workspace overlays: /home/tyler/cartographer_ws/install_isolated;/opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/tyler/cartographer_ws/build_isolated/cartographer_ros/test_results
-- Found gtest: gtests will be built
CMake Error at /opt/ros/indigo/share/catkin/cmake/test/gtest.cmake:154 (add_library):
  add_library cannot create imported target "gtest" because another target
  with the same name already exists.
Call Stack (most recent call first):
  /opt/ros/indigo/share/catkin/cmake/all.cmake:147 (include)
  /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:20 (include)
  CMakeLists.txt:36 (find_package)


CMake Error at /opt/ros/indigo/share/catkin/cmake/test/gtest.cmake:156 (add_library):
  add_library cannot create imported target "gtest_main" because another
  target with the same name already exists.
Call Stack (most recent call first):
  /opt/ros/indigo/share/catkin/cmake/all.cmake:147 (include)
  /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:20 (include)
  CMakeLists.txt:36 (find_package)


-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.18
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
--   iostreams
--   serialization
--   chrono
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- looking for PCL_COMMON
-- looking for PCL_OCTREE
-- looking for PCL_IO
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
--   iostreams
-- Configuring incomplete, errors occurred!
See also "/home/tyler/cartographer_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeOutput.log".
See also "/home/tyler/cartographer_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeError.log".
<== Failed to process package 'cartographer_ros': 
  Command '['/home/tyler/cartographer_ws/install_isolated/env.sh', 'cmake', '/home/tyler/cartographer_ws/src/cartographer_ros/cartographer_ros', '-DCATKIN_DEVEL_PREFIX=/home/tyler/cartographer_ws/devel_isolated/cartographer_ros', '-DCMAKE_INSTALL_PREFIX=/home/tyler/cartographer_ws/install_isolated', '-G', 'Ninja']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/tyler/cartographer_ws/build_isolated/cartographer_ros && /home/tyler/cartographer_ws/install_isolated/env.sh cmake /home/tyler/cartographer_ws/src/cartographer_ros/cartographer_ros -DCATKIN_DEVEL_PREFIX=/home/tyler/cartographer_ws/devel_isolated/cartographer_ros -DCMAKE_INSTALL_PREFIX=/home/tyler/cartographer_ws/install_isolated -G Ninja

Command failed, exiting.

When I directly install in in the catkin_ws, I got the same error.

Hello,

I already wrote a note on Cartographer group, where I explained the project that I am working on.

I was curious if in the meanwhile there has been any progress on this topic.

I looked at the demo: Taurob Tracker; it uses a rotating laser on a ground robot for localization and mapping. However, when I run the rosbag captured with the drone, using the same configuration of Taurob Tracker, the results are not as good as in the demo.

The graphical results are reported in this video. The test has been executed in a University Lab indoor. What is weird to me is that the map is moving with the robot, while it should be static.

There is anything that I am forgetting in the configuration file? Is anyone already working on 3D-SLAM with a drone using rotating 2D-LRF?

Thank you.

Started using the cartographer_turtlebot package in simulation, and I've been running into this error. It occurs after a random amount of time ranging from a few seconds after starting the cartographer_node to several minutes- the only changes I've made have been remapping a few topic names (mainly odometry and the laser scanner), removing a line launching turtlebot's minimal bringup and a line launching the urg_node (since I'm using my own version of turtlebot) and disabling the imu (changes have been across this file and this file). The file I've been launching from is here. The error I've been getting is shown below:

[ WARN] [1491490574.176173648, 624.161000000]: W0406 10:56:14.000000  8798 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 1 parameter blocks x 184 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:              nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 

Parameter Block 0, size: 3

         nan |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
         nan |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0744971 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 


CHOLMOD error: invalid xtype
F0406 10:56:14.176298  8798 covariance_impl.cc:652] Check failed: 'permutation' Must be non NULL 
[FATAL] [1491490574.176547018, 624.161000000]: F0406 10:56:14.000000  8798 covariance_impl.cc:652] Check failed: 'permutation' Must be non NULL 
*** Check failure stack trace: ***
    @     0x7ffff7bb35cd  google::LogMessage::Fail()
    @     0x7ffff7bb5433  google::LogMessage::SendToLog()
    @     0x7ffff7bb315b  google::LogMessage::Flush()
    @     0x7ffff7bb5e1e  google::LogMessageFatal::~LogMessageFatal()
    @           0x6546e1  ceres::internal::CovarianceImpl::ComputeCovarianceValuesUsingSuiteSparseQR()
    @           0x65b0a5  ceres::internal::CovarianceImpl::ComputeCovarianceValues()
    @           0x65b22f  ceres::internal::CovarianceImpl::Compute()
    @           0x5a6918  cartographer::mapping_2d::scan_matching::CeresScanMatcher::Match()
    @           0x5ae390  cartographer::mapping_2d::LocalTrajectoryBuilder::ScanMatch()
    @           0x5ae94e  cartographer::mapping_2d::LocalTrajectoryBuilder::AddHorizontalRangeData()
    @           0x5acfbc  cartographer::mapping_2d::GlobalTrajectoryBuilder::AddRangefinderData()
    @           0x5377f9  cartographer::mapping::CollatedTrajectoryBuilder::HandleCollatedSensorData()
    @           0x53822e  _ZNSt17_Function_handlerIFvRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESt10unique_ptrIN12cartographer6sensor4DataESt14default_deleteISB_EEEZNS9_7mapping25CollatedTrajectoryBuilderC4EPNSA_8CollatorEiRKSt13unordered_setIS5_St4hashIS5_ESt8equal_toIS5_ESaIS5_EES8_INSG_32GlobalTrajectoryBuilderInterfaceESC_IST_EEEUlS7_SE_E_E9_M_invokeERKSt9_Any_dataS7_OSE_
    @           0x61327a  _ZNSt17_Function_handlerIFvSt10unique_ptrIN12cartograp9_Any_dataOS6_
    @           0x6171f9  cartographer::sensor::OrderedMultiQueue::Dispatch()
    @           0x61879f  cartographer::sensor::OrderedMultiQueue::Add()
    @           0x613574  cartographer::sensor::Collator::AddSensorData()
    @           0x536948  cartographer::mapping::CollatedTrajectoryBuilder::AddS
    @           0x509f5b  cartographer_ros::SensorBridge::HandleRangefinder()
    @           0x50ab9a  cartographer_ros::SensorBridge::HandleLaserScanMessage
    @           0x4efb2b  _ZN5boost6detail8function26void_function_obj_invoker1I
    @           0x4f6c4e  boost::detail::function::void_function_obj_invoker1<>:
    @           0x500e39  ros::SubscriptionCallbackHelperT<>::call()
    @     0x7ffff4d1c5cd  ros::SubscriptionQueue::call()
    @     0x7ffff4cc6cf0  ros::CallbackQueue::callOneCB()
    @     0x7ffff4cc80f3  ros::CallbackQueue::callAvailable()
    @     0x7ffff4d20691  ros::SingleThreadedSpinner::spin()
    @     0x7ffff4d0572b  ros::spin()
    @           0x4f0f6e  cartographer_ros::(anonymous namespace)::Run()
    @           0x4ed6a4  main
    @     0x7ffff371f830  __libc_start_main
    @           0x4ef129  _start

Thread 1 "cartographer_no" received signal SIGABRT, Aborted.
0x00007ffff3734428 in __GI_raise ([email protected]=6)
    at ../sysdeps/unix/sysv/linux/raise.c:54
54      ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.

It's also worth noting that this error occurs regardless of if the robot stands still or moves- and while moving, does correctly generate a map. I've tested running the 2D Lidar Demo (listed here) with imu disabled and no other changes, in order to make sure the disabled imu wasn't causing the issue. It ran without error under those circumstances. I'm using Ubuntu 16.04 and ROS Kinetic.

Thanks for this amazing package.

We are planning to employ Google Cartographer for 3D mapping of outdoor large scale environments of few kilometers for self driving car localization and related applications.

We are yet to buy the sensors and from your experience, which sensors and their configuration works best for cartographer ??

1. Which IMUs should we prefer? Could you give us some specifications such as bias or error ?
2. It was said that two velodyne 16's are a good choice and work out of the box. Can someone elaborate on this ? Is one Velodyne 32 is better than two Velo 16's ? What kind of configuration should be have ?(One at the front of the vehicle and other at back with tilted angles ?)

3.It is said that we should constrain it in 6 DOF. Could you say, in which way do we miss the aspect of constraining if we use one Velo 16 and how does that get nullified when we use two Velo 16's.

Thank you so much!

I compiled cartographer-master $cmake CMakeLists.txt when it comes out error infomation like: `- Build type: Release CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message): Imported targets not available for Boost version 106600 Call Stack (most recent call first): /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES) /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES) CMakeLists.txt:31 (find_package)

-- Boost version: 1.66.0 -- Found the following Boost libraries: -- iostreams -- Found installed version of Eigen: /usr/lib/cmake/eigen3 -- Found required Ceres dependency: Eigen version 3.2.92 in /usr/include/eigen3 -- Found required Ceres dependency: glog CMake Error at /usr/local/lib/cmake/Ceres/CeresConfig.cmake:88 (message): Failed to find Ceres - Missing requested Ceres components: [SuiteSparse] (components requested: [SuiteSparse]). Detected Ceres version: 1.14.0 installed in: /usr/local with components: [EigenSparse, SparseLinearAlgebraLibrary, SchurSpecializations, OpenMP, Multithreading]. Call Stack (most recent call first): /usr/local/lib/cmake/Ceres/CeresConfig.cmake:390 (ceres_report_not_found) CMakeLists.txt:32 (find_package)

CMake Error at CMakeLists.txt:32 (find_package): Found package configuration file:

/usr/local/lib/cmake/Ceres/CeresConfig.cmake

but it set Ceres_FOUND to FALSE so package "Ceres" is considered to be NOT FOUND.

-- Configuring incomplete, errors occurred! See also "/home/tby/cartographer-master/CMakeFiles/CMakeOutput.log". See also "/home/tby/cartographer-master/CMakeFiles/CMakeError.log". ` and I searched for this ,I found the Suitesparse problem is fixed under Debian , but not under Ubuntu. how could I solve this problem?

When I finish a trajectory and start a new one I could have: F0625 10:08:27.729404 30040 ordered_multi_queue.cc:112] Check failed: last_dispatched_time_ <= next_data->GetTime()

In my case this is due to the following scenario:

• start of cartographer with a trajectory
• imu data at 1millisecond
• odometry data at 1millisecond (common start time in ordered_multi_queue is then 1 millisecond)
• odometry data at 3 milliseconds
• finish trajectory
• new trajectory
• imu data a 2 milliseconds

This can be reproduced by the following code:

static std::unique_ptr<Data> MakeImu(const int ordinal) {
  return MakeDispatchable(sensor::ImuData{common::FromUniversal(ordinal),
                                          Eigen::Vector3d::Zero(),
                                          Eigen::Vector3d::Zero()});
}

static std::unique_ptr<Data> MakeOdometry(const int ordinal) {
  return MakeDispatchable(sensor::OdometryData{common::FromUniversal(ordinal),
                                               transform::Rigid3d::Identity()});
}

TEST(OrderedMultiQueueTestOther, MarkQueueAsFinishedMultiple) {
  std::vector<std::unique_ptr<Data>> values;
  OrderedMultiQueue queue;

  const int trajectory1 = 1;
  const QueueKey imuTrajectory1{trajectory1, "imu"};
  const QueueKey odometryTrajectory1{trajectory1, "odometry"};

  const int trajectory2 = 2;
  const QueueKey imuTrajectory2{trajectory2, "imu"};

  const auto AddQueues = [&queue,&values](std::initializer_list<QueueKey> queueKeys) {
    for (const QueueKey& queueKey : queueKeys) {
      queue.AddQueue(queueKey, [&values](std::unique_ptr<Data> data) {
        if (!values.empty()) {
          EXPECT_GE(data->GetTime(), values.back()->GetTime());
        }
        values.push_back(std::move(data));
      });
    }
  };

  AddQueues({imuTrajectory1, odometryTrajectory1});

  queue.Add(imuTrajectory1, MakeImu(1));
  EXPECT_TRUE(values.empty());
  queue.Add(odometryTrajectory1, MakeOdometry(1));
  EXPECT_EQ(1, values.size());
  queue.MarkQueueAsFinished(imuTrajectory1);
  EXPECT_EQ(2, values.size());
  queue.Add(odometryTrajectory1, MakeOdometry(3));
  EXPECT_EQ(3, values.size());
  queue.MarkQueueAsFinished(odometryTrajectory1);
  EXPECT_EQ(3, values.size());

  AddQueues({imuTrajectory2});
  queue.Add(imuTrajectory2, MakeImu(2)); // Check failed: last_dispatched_time_ <= next_data->GetTime() (3 vs. 2) Non-sorted data added to queue: '(2, imu)'
}

I want to know if you consider it as a bug as if I do not finished the trajectory there is no assertion or if I should modify my code to handle this case.

Edited to add functions to create imu and odometry data

Hello,

I want to sensor fuse Velodyne VLP-16 LiDAR, SICK Mono Camera and Vectornav IMU sensor data to generate 2D as well as 3D map (SLAM) in real-time with no ros bag. Any advice on how I can do this using cartographer?

Incompatible flag --incompatible_disable_starlark_host_transitions will be enabled by default in the next major release (Bazel 7.0), thus breaking Cartographer. Please migrate to fix this and unblock the flip of this flag.

The flag is documented here: bazelbuild/bazel#17032.

Please check the following CI builds for build and test results:

• Ubuntu 16.04 OpenJDK 8

Never heard of incompatible flags before? We have documentation that explains everything. If you have any questions, please file an issue in https://github.com/bazelbuild/continuous-integration.

Hi guys, I had a problem. I used the radar of Pepperl_fuchs r2000, and the radar was not installed in the center of the vehicle body. When doing 2D slam, the wall was not solid and the border of the wall was gradually faded out.

Has anyone encountered this problem? I found that if I set the radar to have no offset center in my urdf file, I would not have this problem. I have also done some tests likes, If the urdf of the demo "deutsches Museum" is offset by 1m, the scanned object is not completely solid. The following is the result of sweeping out the wall. Has anyone ever encountered this problem? Relation of coordinates: parent link="base_link" child link="laser_link origin xyz="-0.393 0.3015 0.025" rpy="0 0 -3.1368926"

Due to different structure alignment rules in different compilers (or even the same compiler in different compiling contexts), the SubmapSlice structure defined in ./cartographer/io/submap_painter.h comes into cartographer_ros or another external project misaligned by 48 bytes because of different sizeof() return values (224 vs 256 bytes). This behaviour is proven when testing Cartographer compiled using Clang 15 and GCC 11.3 on Mint Linux 22 with a customized build of ROS. The reason is deeply sitting problem with implementation-defined STL shipped with different kernels and build pipelines. This pull request adds a semi-portable workaround for this issue forcing alignment of SubmapSlice structure to 32 bytes as is required by GCC.

• Added a workaround for misaligned SubmapSlice structure between cartographer and cartographer_ros built using different compilers or compilation contexts
• Rearranged SubmapSlice field order after static analysis performed with clangd
• Added commented non-portable workaround with #pragma pack
• Closes #1909

I built Cartographer with Clang 15, activating Polly optimizer and C++17 for my own customized build of ROS1 for Ubuntu 22.04/Mint Linux. However, this build of Cartographer library crashes while working with Cairo submap slices. This issue exists due to unexpected calling free() on the content of the cairo_data field of SubmapSlice structure. Below is the GDB output:

rosrun --prefix "gdb --args" cartographer_ros cartographer_pbstream_map_publisher -pbstream_filename /util/ros/jobot/map/map.pbstream
GNU gdb (Ubuntu 12.1-0ubuntu1~22.04) 12.1
Copyright (C) 2022 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.
Type "show copying" and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<https://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
    <http://www.gnu.org/software/gdb/documentation/>.

For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /home/twdragon/src/ros/install_ws/devel/lib/cartographer_ros/cartographer_pbstream_map_publisher...
(gdb) run
Starting program: /home/twdragon/src/ros/install_ws/devel/lib/cartographer_ros/cartographer_pbstream_map_publisher -pbstream_filename /util/ros/jobot/map/map.pbstream
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffeb56b640 (LWP 47457)]
[New Thread 0x7fffead6a640 (LWP 47458)]
[New Thread 0x7fffe2569640 (LWP 47459)]
[New Thread 0x7fffd1d68640 (LWP 47460)]
[New Thread 0x7fffc9567640 (LWP 47461)]
[New Thread 0x7fffc8d66640 (LWP 47462)]
[New Thread 0x7fffb8565640 (LWP 47463)]
[New Thread 0x7fffaf4e1640 (LWP 47465)]
[New Thread 0x7fffaece0640 (LWP 47466)]
[New Thread 0x7fffae4df640 (LWP 47467)]
[New Thread 0x7fffadcde640 (LWP 47468)]
[ INFO] [1667920379.578857731]: I1108 16:12:59.000000 47453 pbstream_map_publisher_main.cc:51] Loading submap slices from serialized data.
[ INFO] [1667920381.179558315]: I1108 16:13:01.000000 47453 pbstream_map_publisher_main.cc:59] Generating combined map image from submap slices.
free(): invalid pointer

Thread 1 "cartographer_pb" received signal SIGABRT, Aborted.
__pthread_kill_implementation (no_tid=0, signo=6, threadid=140737141872192) at ./nptl/pthread_kill.c:44
44	./nptl/pthread_kill.c: Нет такого файла или каталога.
(gdb) where
#0  __pthread_kill_implementation (no_tid=0, signo=6, threadid=140737141872192) at ./nptl/pthread_kill.c:44
#1  __pthread_kill_internal (signo=6, threadid=140737141872192) at ./nptl/pthread_kill.c:78
#2  __GI___pthread_kill (threadid=140737141872192, [email protected]=6) at ./nptl/pthread_kill.c:89
#3  0x00007ffff26d5476 in __GI_raise ([email protected]=6) at ../sysdeps/posix/raise.c:26
#4  0x00007ffff26bb7f3 in __GI_abort () at ./stdlib/abort.c:79
#5  0x00007ffff271c6f6 in __libc_message ([email protected]=do_abort, [email protected]=0x7ffff286eb8c "%s\n") at ../sysdeps/posix/libc_fatal.c:155
#6  0x00007ffff2733d7c in malloc_printerr ([email protected]=0x7ffff286c764 "free(): invalid pointer") at ./malloc/malloc.c:5664
#7  0x00007ffff2735ac4 in _int_free (av=<optimized out>, p=<optimized out>, have_lock=0) at ./malloc/malloc.c:4439
#8  0x00007ffff27384d3 in __GI___libc_free (mem=<optimized out>) at ./malloc/malloc.c:3391
#9  0x000055555562fe9d in std::__new_allocator<unsigned int>::deallocate (this=0x55555609b9c0, __p=0x555557a6d000, __n=17293379248325154061)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/new_allocator.h:158
#10 0x000055555562fe75 in std::allocator_traits<std::allocator<unsigned int> >::deallocate (__a=..., __p=0x555557a6d000, __n=17293379248325154061)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/alloc_traits.h:496
#11 0x000055555562fe28 in std::_Vector_base<unsigned int, std::allocator<unsigned int> >::_M_deallocate (this=0x55555609b9c0, __p=0x555557a6d000, 
    __n=17293379248325154061) at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_vector.h:387
#12 0x000055555562fd87 in std::_Vector_base<unsigned int, std::allocator<unsigned int> >::~_Vector_base (this=0x55555609b9c0)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_vector.h:366
#13 0x000055555562fd06 in std::vector<unsigned int, std::allocator<unsigned int> >::~vector (this=0x55555609b9c0)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_vector.h:733
#14 0x000055555562fcad in cartographer::io::SubmapSlice::~SubmapSlice (this=0x55555609b950) at /util/include/cartographer/io/submap_painter.h:42
#15 0x000055555562fc89 in std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>::~pair (this=0x55555609b930)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_iterator.h:2547
#16 0x000055555562fc69 in std::__new_allocator<std::_Rb_tree_node<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::destroy<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > (this=0x7fffffffd2d8, __p=0x55555609b930)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/new_allocator.h:181
#17 0x000055555562fc0d in std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > > >::destroy<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > (__a=..., __p=0x55555609b930)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/alloc_traits.h:535
#18 0x000055555562fb9c in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_destroy_node (this=0x7fffffffd2d8, __p=0x55555609b910)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:623
#19 0x000055555562fb41 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_drop_node (this=0x7fffffffd2d8, __p=0x55555609b910)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:631
#20 0x000055555562fa82 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x55555609b910)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1937
#21 0x000055555562fa68 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x555555cc26b0)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1935
#22 0x000055555562fa68 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x555555cc21d0)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1935
#23 0x000055555562fa68 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x55555609b190)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1935
#24 0x000055555562fa68 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x55555ac7ccd0)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1935
#25 0x000055555562fa68 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x55555ac7bdd0)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1935
#26 0x000055555562fa68 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x55555ac7a160)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1935
#27 0x000055555562fa68 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x555555ce4b80)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1935
#28 0x000055555562fa68 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x555555cf7b60)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1935
#29 0x000055555562fa68 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x555555cdf100)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1935
#30 0x000055555562fa68 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x555555ce64b0)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1935
#31 0x000055555562fa68 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::_M_erase (this=0x7fffffffd2d8, __x=0x5555560fc390)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:1935
#32 0x000055555562fa05 in std::_Rb_tree<cartographer::mapping::SubmapId, std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice>, std::_Select1st<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> >, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::~_Rb_tree (this=0x7fffffffd2d8)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_tree.h:984
#33 0x000055555562ee25 in std::map<cartographer::mapping::SubmapId, cartographer::io::SubmapSlice, std::less<cartographer::mapping::SubmapId>, std::allocator<std::pair<cartographer::mapping::SubmapId const, cartographer::io::SubmapSlice> > >::~map (this=0x7fffffffd2d8)
    at /usr/lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/stl_map.h:312
#34 0x000055555562d1c7 in cartographer_ros::(anonymous namespace)::LoadOccupancyGridMsg (pbstream_filename="/util/ros/jobot/map/map.pbstream", 
    resolution=0.050000000000000003)
    at /home/twdragon/src/ros/install_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc:64
#35 0x000055555562cb1e in cartographer_ros::(anonymous namespace)::Run (pbstream_filename="/util/ros/jobot/map/map.pbstream", map_topic="map", 
    map_frame_id="map", resolution=0.050000000000000003)
    at /home/twdragon/src/ros/install_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc:69
#36 0x000055555562ca51 in main (argc=1, argv=0x7fffffffd9a8)
    at /home/twdragon/src/ros/install_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc:97

Here is the cause:

#14 0x000055555562fcad in cartographer::io::SubmapSlice::~SubmapSlice (this=0x55555609b950) at /util/include/cartographer/io/submap_painter.h:42

The program crashes because the default destructor of SubmapSlice structure tries to clear cairo_data field calling free() on each element.

Does anyone know a workaround? And another question: does this issue come from Cairo API?