c++ ros grid_map pcd

Question

问题遇到的现象和发生背景

grid_map 下grid_map_pcl模块进行pcd点云的格式转换成带有高程信息的地图，转换完成但是不会显示出来，也只有一点警告，但是感觉不是正常的
运行命令也只有这一行

roslaunch grid_map_pcl grid_map_pcl_loader_node.launch 

遇到的现象和发生背景，请写出第一个错误信息

[ WARN] [1675932642.157380852]: Less than 4 points in a cell. Skipping.
[ WARN] [1675932642.223957253]: No clusters found in the grid map cell
[ WARN] [1675932652.167046506]: Less than 4 points in a cell. Skipping.
[ WARN] [1675932652.260818941]: No clusters found in the grid map cell

用代码块功能插入代码，请勿粘贴截图。 不用代码块回答率下降 50%

<?xml version="1.0" encoding="UTF-8"?>

<launch>
  <arg name="folder_path"            default="$(find grid_map_pcl)/data"/>
  <arg name="pcd_filename"           default="3.pcd" />
  <arg name="configFilePath_"       default="$(find grid_map_pcl)/config/parameters.yaml" />
  <arg name="map_rosbag_topic"       default="grid_map" />
  <arg name="output_grid_map"        default="$(find grid_map_pcl)/data/3.bag" />
  <arg name="map_frame"              default="map" />
  <arg name="map_layer_name"         default="elevation" />
  <arg name="prefix"                 default=""/>
  <arg name="set_verbosity_to_debug" default="false"/>
  <arg name="publish_point_cloud"    default="true"/>
    
  <node name="grid_map_pcl_loader_node" 
        pkg="grid_map_pcl"
        type="grid_map_pcl_loader_node" 
        output="screen" 
        launch-prefix="$(arg prefix)">
    <rosparam file="$(arg configFilePath_)" />
    <param name="configFilePath_"        type="string" value="$(arg configFilePath_)" />
    <param name="folder_path"             type="string" value="$(arg folder_path)" />
    <param name="pcd_filename"            type="string" value="$(arg pcd_filename)" />
    <param name="map_rosbag_topic"        type="string" value="$(arg map_rosbag_topic)" />
    <param name="output_grid_map"         type="string" value="$(arg output_grid_map)" />
    <param name="map_frame"               type="string" value="$(arg map_frame)" />
    <param name="map_layer_name"          type="string" value="$(arg map_layer_name)" />
    <param name="set_verbosity_to_debug"  type="bool"   value="$(arg set_verbosity_to_debug)" />
  </node>
  
  <node name="rviz_grid_map_pcl" pkg="rviz" type="rviz" args="-d $(find grid_map_pcl)/rviz/grid_map_vis.rviz" />
  
  <node name="point_cloud_publisher_node" 
        pkg="grid_map_pcl"
        type="pointcloud_publisher_node"
        output="screen"
        launch-prefix="$(arg prefix)"
        if="$(arg publish_point_cloud)">
    <param name="folder_path"             type="string" value="$(arg folder_path)" />
    <param name="pcd_filename"            type="string" value="$(arg pcd_filename)" />
    <param name="cloud_frame"             type="string" value="$(arg map_frame)" />
  </node>
  
</launch>

运行结果及详细报错内容

我的解答思路和尝试过的方法，不写自己思路的，回答率下降 60%

我使用一些内存大约1mb或者100kb的pcd点云信息就可以直接转换出高程信息，目前是200m到500m左右的，个人猜测不是和内存有关，这个pcd可能是由于las点云转换而来导致的错误？各位朋友有没有遇到的相类似的bug呢？

我想要达到的结果，如果你需要快速回答，请尝试 “付费悬赏”

Answer 1

提醒：grid_map_pcl是开源的