[pcl::PCDWriter::writeBinary] Input point cloud has no data!

[kkss5566]

你好，我在跑自己的rosbag的時候或著自己啟動機器人想要建圖時都會報這樣的錯誤，想請問有解決辦法嘛？

... logging to /home/keisoku/.ros/log/fac91196-ff77-11ed-a940-fbe2fa91ebf6/roslaunch-keisoku-desktop-33436.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://keisoku-desktop:45183/

SUMMARY

PARAMETERS

• /ekf_gps/base_link_frame: base_link
• /ekf_gps/frequency: 50
• /ekf_gps/imu0: imu_correct
• /ekf_gps/imu0_config: [False, False, Fa...
• /ekf_gps/imu0_differential: False
• /ekf_gps/imu0_queue_size: 50
• /ekf_gps/imu0_remove_gravitational_acceleration: True
• /ekf_gps/map_frame: map
• /ekf_gps/odom0: odometry/gps
• /ekf_gps/odom0_config: [True, True, True...
• /ekf_gps/odom0_differential: False
• /ekf_gps/odom0_queue_size: 10
• /ekf_gps/odom_frame: odom
• /ekf_gps/process_noise_covariance: [1.0, 0, 0, 0, 0,...
• /ekf_gps/publish_tf: False
• /ekf_gps/sensor_timeout: 0.01
• /ekf_gps/two_d_mode: False
• /ekf_gps/world_frame: odom
• /lio_sam/Horizon_SCAN: 1800
• /lio_sam/N_SCAN: 16
• /lio_sam/baselinkFrame: base_link
• /lio_sam/downsampleRate: 1
• /lio_sam/edgeFeatureMinValidNum: 10
• /lio_sam/edgeThreshold: 1.0
• /lio_sam/extrinsicRPY: [0, -1, 0, 1, 0, ...
• /lio_sam/extrinsicRot: [-1, 0, 0, 0, 1, ...
• /lio_sam/extrinsicTrans: [0.0, 0.0, 0.0]
• /lio_sam/globalMapVisualizationLeafSize: 1.0
• /lio_sam/globalMapVisualizationPoseDensity: 10.0
• /lio_sam/globalMapVisualizationSearchRadius: 1000.0
• /lio_sam/gpsCovThreshold: 2.0
• /lio_sam/gpsTopic: odometry/gpsz
• /lio_sam/historyKeyframeFitnessScore: 0.3
• /lio_sam/historyKeyframeSearchNum: 25
• /lio_sam/historyKeyframeSearchRadius: 15.0
• /lio_sam/historyKeyframeSearchTimeDiff: 30.0
• /lio_sam/imuAccBiasN: 6.435665935353257...
• /lio_sam/imuAccNoise: 0.003993957088823881
• /lio_sam/imuGravity: 9.80511
• /lio_sam/imuGyrBiasN: 3.564031869636761...
• /lio_sam/imuGyrNoise: 0.001563634394969...
• /lio_sam/imuRPYWeight: 0.01
• /lio_sam/imuTopic: imu/data
• /lio_sam/lidarFrame: base_link
• /lio_sam/lidarMaxRange: 1000.0
• /lio_sam/lidarMinRange: 1.0
• /lio_sam/loopClosureEnableFlag: True
• /lio_sam/loopClosureFrequency: 1.0
• /lio_sam/mapFrame: map
• /lio_sam/mappingCornerLeafSize: 0.2
• /lio_sam/mappingProcessInterval: 0.15
• /lio_sam/mappingSurfLeafSize: 0.4
• /lio_sam/numberOfCores: 4
• /lio_sam/odomTopic: odometry/imu
• /lio_sam/odometryFrame: odom
• /lio_sam/odometrySurfLeafSize: 0.4
• /lio_sam/pointCloudTopic: velodyne_points
• /lio_sam/poseCovThreshold: 25.0
• /lio_sam/rotation_tollerance: 1000
• /lio_sam/savePCD: True
• /lio_sam/savePCDDirectory: /Downloads/loam/
• /lio_sam/sensor: velodyne
• /lio_sam/surfFeatureMinValidNum: 100
• /lio_sam/surfThreshold: 0.1
• /lio_sam/surroundingKeyframeDensity: 2.0
• /lio_sam/surroundingKeyframeSearchRadius: 50.0
• /lio_sam/surroundingKeyframeSize: 50
• /lio_sam/surroundingkeyframeAddingAngleThreshold: 0.2
• /lio_sam/surroundingkeyframeAddingDistThreshold: 1.0
• /lio_sam/useGpsElevation: False
• /lio_sam/useImuHeadingInitialization: True
• /lio_sam/z_tollerance: 1000
• /navsat/broadcast_utm_transform: False
• /navsat/broadcast_utm_transform_as_parent_frame: False
• /navsat/delay: 0.0
• /navsat/frequency: 50
• /navsat/magnetic_declination_radians: 0
• /navsat/publish_filtered_gps: False
• /navsat/wait_for_datum: False
• /navsat/yaw_offset: 0
• /navsat/zero_altitude: True
• /robot_description: <?xml version="1....
• /rosdistro: noetic
• /rosversion: 1.16.0

NODES
/
ekf_gps (robot_localization/ekf_localization_node)
lio_sam_featureExtraction (lio_sam/lio_sam_featureExtraction)
lio_sam_imageProjection (lio_sam/lio_sam_imageProjection)
lio_sam_imuPreintegration (lio_sam/lio_sam_imuPreintegration)
lio_sam_mapOptmization (lio_sam/lio_sam_mapOptmization)
lio_sam_rviz (rviz/rviz)
navsat (robot_localization/navsat_transform_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [33446]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fac91196-ff77-11ed-a940-fbe2fa91ebf6
process[rosout-1]: started with pid [33456]
started core service [/rosout]
process[lio_sam_imuPreintegration-2]: started with pid [33463]
process[lio_sam_imageProjection-3]: started with pid [33464]
process[lio_sam_featureExtraction-4]: started with pid [33465]
process[lio_sam_mapOptmization-5]: started with pid [33466]
process[robot_state_publisher-6]: started with pid [33468]
process[ekf_gps-7]: started with pid [33481]
process[navsat-8]: started with pid [33484]
process[lio_sam_rviz-9]: started with pid [33485]
[ INFO] [1685512629.760134190]: ----> Feature Extraction Started.
[ INFO] [1685512629.763197797]: ----> Image Projection Started.
[ INFO] [1685512629.778214201]: ----> Map Optimization Started.
[ INFO] [1685512629.792441124]: ----> IMU Preintegration Started.
^C[lio_sam_rviz-9] killing on exit
[navsat-8] killing on exit
[ekf_gps-7] killing on exit
[robot_state_publisher-6] killing on exit
[lio_sam_mapOptmization-5] killing on exit
[lio_sam_featureExtraction-4] killing on exit
[lio_sam_imageProjection-3] killing on exit
[lio_sam_imuPreintegration-2] killing on exit

---

Saving map to pcd files ...
Save destination: /home/keisoku/Downloads/loam/
terminate called after throwing an instance of 'pcl::IOException'
what(): : [pcl::PCDWriter::writeBinary] Input point cloud has no data!
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

[YJZLuckyBoy]

提示中显示要保存的点云中并没有点云数据，这个问题有很多可能，可以逐个模块看一下,