板卡型号：RDK X3 Module
参考链接：
https://developer.d-robotics.cc/rdk\_doc/Robot\_development/apps/slam
前面部分都正常，到后面在X3板上运行时
出现下面的信息：
root@ubuntu:~# source /opt/tros/setup.bashroot@ubuntu:~# ros2 launch slam_toolbox online_sync_launch.py[INFO] [launch]: All log files can be found below /root/.ros/log/2025-03-21-17-49-13-006651-ubuntu-14620[INFO] [launch]: Default logging verbosity is set to INFO[INFO] [sync_slam_toolbox_node-1]: process started with pid [14622][sync_slam_toolbox_node-1] [INFO] [1742550553.626157526] [slam_toolbox]: Node using stack size 40000000[sync_slam_toolbox_node-1] [INFO] [1742550553.765825865] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver[sync_slam_toolbox_node-1] [INFO] [1742550553.769867864] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.200000 according to authority Authority undetectable[sync_slam_toolbox_node-1] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained[sync_slam_toolbox_node-1] at line 332 in /mnt/disk1/zhuo.wang/build_deb/cc_ws_x3/tros_ws/src/tros/geometry2/tf2/src/buffer_core.cpp[sync_slam_toolbox_node-1] [INFO] [1742550554.300971113] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 615.001 for reason 'Unknown'[sync_slam_toolbox_node-1] [INFO] [1742550554.475052787] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 615.201 for reason 'Unknown'[sync_slam_toolbox_node-1] [INFO] [1742550554.559643971] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 615.401 for reason 'Unknown'[sync_slam_toolbox_node-1] Info: clipped range threshold to be within minimum and maximum range![sync_slam_toolbox_node-1] [WARN] [1742550554.894104663] [slam_toolbox]: maximum laser range setting (20.0 m) exceeds the capabilities of the used Lidar (3.5 m)[sync_slam_toolbox_node-1] Registering sensor: [Custom Described Lidar][sync_slam_toolbox_node-1] [INFO] [1742550598.695844128] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 659.203 for reason 'Unknown'[sync_slam_toolbox_node-1] [INFO] [1742550598.947375968] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 659.403 for reason 'Unknown'[sync_slam_toolbox_node-1] [INFO] [1742550599.209717409] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 659.602 for reason 'Unknown'[sync_slam_toolbox_node-1] [INFO] [1742550599.301414041] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 660.002 for reason 'Unknown'[sync_slam_toolbox_node-1] [INFO] [1742550599.619741028] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 660.203 for reason 'Unknown'[sync_slam_toolbox_node-1] [INFO] [1742550599.842891038] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 660.402 for reason 'Unknown'
正常的下面这种没有出现：
社区求助贴发帖建议-
基础信息
1. 板卡型号及板卡外观图片
RDK X3，RDK X3 Module，RDK X5，RDK X5 Module，RDK Ultra，RDK S100，等等
2. 系统软件版本： 提供 sudo cat /etc/version 命令和 sudo rdkos_info 命令的返回结果
3. 问题涉及的技术领域-
硬件开发 / TROS （TogetheROS.Bot）/ 算法工具链 （OpenExplore）/ 多媒体开发
Linux开发 （驱动，RDK OS）/ RDK Studio / 其他
4. 问题描述：-
- 复现概率：必现、高、中、低，并描述大致的概率数值
- 已进行的排查措施、分析及结果：尽可能详细的描述在进行什么功能的开发或者测试，发现了什么问题，问题现象，并且提供预期的结果
- 搜索一下论坛是否有相关的案例
- 如果涉及到社区的资源或者第三方资源，请尽可能提供资源的网址
- 功能异常，先排查一下是不是运行的代码和demo存在差异，修改不多的情况下直接用对比软件先对比
- 提供必要的问题日志
常见问答100条: https://horizonrobotics.feishu.cn/docx/QYfCddrK8o2IIJxVUypcv3b7nsf-
多媒体相关问题发帖请参考：https://developer.d-robotics.cc/forumDetail/266441979142197461-
TROS 问题基础排查
确保您的tros软件包都是最新的：一些问题在新版本中已经被修复，在apt update确保有地瓜的apt源“archive.d-robotics.cc”后进行apt upgrade。在提问时也请使用apt list | grep tros*、apt show tros*命令提供您的软件包版本。
**尝试定位问题出现的node：**参考对应功能报的launch，将日志级别改为debug，重新运行，定位出现问题的node，并提供具体的ros2日志。一般tros的launch处于/opt/tros/share//launch目录下。ros2 日志一般在/root/.ros/log/目录下，排查前可以先rm -rf /root/.ros/log/*清空这个目录，再运行功能包收集日志。
**重新安装相关的tros功能包：**如果launch或者其他功能改乱了可以重装tros的软件包，利用apt重装tros软件包的一般步骤为，以hobot_usb_cam为例，先apt list | grep *hobot* 定位软件包的名称，然后apt remove tros-hobot-usb-cam，然后在apt update确保有地瓜的源“archive.d-robotics.cc”后进行apt install tros-hobot-usb-cam重新安装tros的包。