本文介绍: 2.1从 xxx.lua中注释掉这行：–TRAJECTORY_BUILDER_2D.use_imu_data = false。2.2 在launch中注掉 2.从xxx.lua文件与launch文件中同时去除imu相关数据。1.重新设置imu，使imu有数据。具体原因是imu没有重力数据。
cartographer离线建图报错： data_.trajectory_nodes.SizeOfTrajectoryOrZero
[FATAL] [1706177325.876019302, 1706015603.398505596]: F0125 18:08:45.000000 17607 pose_graph_2d.cc:1314] Check failed: data_.trajectory_nodes.SizeOfTrajectoryOrZero(trajectory_id) > 0 (0 vs. 0)
[cartographer_node-2] process has died [pid 17607, exit code -6, cmd /home/sukai/workspace/0/137/cartographer_noetic/cartographer_melodic/cartographer_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/sukai/workspace/0/137/cartographer_noetic/cartographer_melodic/cartographer_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename a_ros1_backpack_2d_imu_odom.lua sc
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