cartographer离线建图报错： reference_counts_.count(key) (1 vs. 0) Key ‘max_match_variety_distance‘ was used

cartographer离线建图报错： reference_counts_.count(key) (1 vs. 0) Key 'max_match_variety_distance' was used

[FATAL] [1706178296.827084612]: F0125 18:24:56.000000 21358 lua_parameter_dictionary.cc:433] Check failed: 1 == reference_counts_.count(key) (1 vs. 0) Key 'max_match_variety_distance' was used the wrong number of times.

[ WARN] [1706178297.451220708, 1706015603.621017485]: link 'laser' material 'black' undefined.
[ WARN] [1706178297.451239808, 1706015603.621017485]: link 'laser' material 'black' undefined.
[ WARN] [1706178297.451253094, 1706015603.621017485]: link 'imu_link' material 'red' undefined.
[ WARN] [1706178297.451260854, 1706015603.621017485]: link 'imu_link' material 'red' undefined.
*** Check failure stack trace: ***
    @     0x7ff3745401c3  google::LogMessage::Fail()
    @     0x7ff37454525b  google::LogMessage::SendToLog()
    @     0x7ff37453febf  google::LogMessage::Flush()
    @     0x7ff3745406ef  google::LogMessageFatal::~LogMessageFatal()
    @     0x55a1c0d81734  cartographer::common::LuaParameterDictionary::CheckAllKeysWereUsedExactlyOnceAndReset()
    @     0x55a1c0d819c5  cartographer::common::LuaParameterDictionary::~LuaParameterDictionary()
    @     0x55a1c0da427e  cartographer::mapping::CreatePoseGraphOptions()
    @     0x55a1c0da00b1  cartographer::mapping::CreateMapBuilderOptions()
    @     0x55a1c0d6493e  cartographer_ros::CreateNodeOptions()
    @     0x55a1c0d65226  cartographer_ros::LoadOptions()
    @     0x55a1c0d23e85  cartographer_ros::(anonymous namespace)::Run()
    @     0x55a1c0d204da  main
    @     0x7ff37321b083  __libc_start_main
    @     0x55a1c0d2392e  _start
[cartographer_node-2] process has died [pid 21358, 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 scan:=/scan __name:=cartographer_node __log:=/home/sukai/.ros/log/df6f33bc-bb65-11ee-b9b1-89dd7b7a0dad/cartographer_node-2.log].
log file: /home/sukai/.ros/log/df6f33bc-bb65-11ee-b9b1-89dd7b7a0dad/cartographer_node-2*.log
 

解决：

1.把xxx.lua文件的以下参数注掉

 MAP_BUILDER.pose_graph.optimize_every_meter = 2 --0.5 
MAP_BUILDER.pose_graph.constraint_builder.max_match_variety_distance = 15.0 --15 
MAP_BUILDER.pose_graph.local_constraint_search_after_n_seconds = 5.0 --1.0