get none results

[gongyue666]

Hi I record rosbag and run the code, but always get unvalied results, like these:
[1633353814.615495]: [0;33mOpening bag...[0m
[1633353814.621704]: [0;32mDONE![0m
[1633353814.621714]: [0;33mQuering topics bag...[0m
[1633353814.630232]: [0;32mData reading finished![0m
[1633353814.631262]: [0;37mHi![0m
[1633353814.631271]: [0;37mlaser size: [0m1208
[1633353814.631275]: [0;37modom size: [0m0
[1633353814.631278]: [0;32mBegin CSM![0m
[1633353814.631281]: [0;33mConverting scan to csm type...[0m
[1633353814.740251]: [0;32mConverting finished![0m
[1633353814.740272]: [0;37mLDP numbers: [0m1208
[1633353814.740276]: [0;33mCanonical scan matching...[0m

Matching progress: 0% 0% 0% 0% 0% 0% 0% 0% 0% 0% 0% 0% 1% 1% 1% 1% 1% 1% 1% 1% 1% 1% 1% 1% 2% 2% 2% 2% 2% 2% 2% 2% 2% 2% 2% 2% 3% 3% 3% 3% 3% 3% 3% 3% 3% 3% 3% 3% 4% 4% 4% 4% 4% 4% 4% 4% 4% 4% 4% 4% 5% 5% 5% 5% 5% 5% 5% 5% 5% 5% 5% 5% 6% 6% 6% 6% 6% 6% 6% 6% 6% 6% 6% 6% 7% 7% 7% 7% 7% 7% 7% 7% 7% 7% 7% 7% 8% 8% 8% 8% 8% 8% 8% 8% 8% 8% 8% 8% 9% 9% 9% 9% 9% 9% 9% 9% 9% 9% 9% 9% 10% 10% 10% 10% 10% 10% 10% 10% 10% 10% 10% 10% 11% 11% 11% 11% 11% 11% 11% 11% 11% 11% 11% 11% 12% 12% 12% 12% 12% 12% 12% 12% 12% 12% 12% 12% 12% 13% 13% 13% 13% 13% 13% 13% 13% 13% 13% 13% 13% 14% 14% 14% 14% 14% 14% 14% 14% 14% 14% 14% 14% 15% 15% 15% 15% 15% 15% 15% 15% 15% 15% 15% 15% 16% 16% 16% 16% 16% 16% 16% 16% 16% 16% 16% 16% 17% 17% 17% 17% 17% 17% 17% 17% 17% 17% 17% 17% 18% 18% 18% 18% 18% 18% 18% 18% 18% 18% 18% 18% 19% 19% 19% 19% 19% 19% 19% 19% 19% 19% 19% 19% 20% 20% 20% 20% 20% 20% 20% 20% 20% 20% 20% 20% 21% 21% 21% 21% 21% 21% 21% 21% 21% 21% 21% 21% 22% 22% 22% 22% 22% 22% 22% 22% 22% 22% 22% 22% 23% 23% 23% 23% 23% 23% 23% 23% 23% 23% 23% 23% 24% 24% 24% 24% 24% 24% 24% 24% 24% 24% 24% 24% 25% 25% 25% 25% 25% 25% 25% 25% 25% 25% 25% 25% 25% 26% 26% 26% 26% 26% 26% 26% 26% 26% 26% 26% 26% 27% 27% 27% 27% 27% 27% 27% 27% 27% 27% 27% 27% 28% 28% 28% 28% 28% 28% 28% 28% 28% 28% 28% 28% 29% 29% 29% 29% 29% 29% 29% 29% 29% 29% 29% 29% 30% 30% 30% 30% 30% 30% 30% 30% 30% 30% 30% 30% 31% 31% 31% 31% 31% 31% 31% 31% 31% 31% 31% 31% 32% 32% 32% 32% 32% 32% 32% 32% 32% 32% 32% 32% 33% 33% 33% 33% 33% 33% 33% 33% 33% 33% 33% 33% 34% 34% 34% 34% 34% 34% 34% 34% 34% 34% 34% 34% 35% 35% 35% 35% 35% 35% 35% 35% 35% 35% 35% 35% 36% 36% 36% 36% 36% 36% 36% 36% 36% 36% 36% 36% 37% 37% 37% 37% 37% 37% 37% 37% 37% 37% 37% 37% 37% 38% 38% 38% 38% 38% 38% 38% 38% 38% 38% 38% 38% 39% 39% 39% 39% 39% 39% 39% 39% 39% 39% 39% 39% 40% 40% 40% 40% 40% 40% 40% 40% 40% 40% 40% 40% 41% 41% 41% 41% 41% 41% 41% 41% 41% 41% 41% 41% 42% 42% 42% 42% 42% 42% 42% 42% 42% 42% 42% 42% 43% 43% 43% 43% 43% 43% 43% 43% 43% 43% 43% 43% 44% 44% 44% 44% 44% 44% 44% 44% 44% 44% 44% 44% 45% 45% 45% 45% 45% 45% 45% 45% 45% 45% 45% 45% 46% 46% 46% 46% 46% 46% 46% 46% 46% 46% 46% 46% 47% 47% 47% 47% 47% 47% 47% 47% 47% 47% 47% 47% 48% 48% 48% 48% 48% 48% 48% 48% 48% 48% 48% 48% 49% 49% 49% 49% 49% 49% 49% 49% 49% 49% 49% 49% 50% 50% 50% 50% 50% 50% 50% 50% 50% 50% 50% 50% 50% 51% 51% 51% 51% 51% 51% 51% 51% 51% 51% 51% 51% 52% 52% 52% 52% 52% 52% 52% 52% 52% 52% 52% 52% 53% 53% 53% 53% 53% 53% 53% 53% 53% 53% 53% 53% 54% 54% 54% 54% 54% 54% 54% 54% 54% 54% 54% 54% 55% 55% 55% 55% 55% 55% 55% 55% 55% 55% 55% 55% 56% 56% 56% 56% 56% 56% 56% 56% 56% 56% 56% 56% 57% 57% 57% 57% 57% 57% 57% 57% 57% 57% 57% 57% 58% 58% 58% 58% 58% 58% 58% 58% 58% 58% 58% 58% 59% 59% 59% 59% 59% 59% 59% 59% 59% 59% 59% 59% 60% 60% 60% 60% 60% 60% 60% 60% 60% 60% 60% 60% 61% 61% 61% 61% 61% 61% 61% 61% 61% 61% 61% 61% 62% 62% 62% 62% 62% 62% 62% 62% 62% 62% 62% 62% 62% 63% 63% 63% 63% 63% 63% 63% 63% 63% 63% 63% 63% 64% 64% 64% 64% 64% 64% 64% 64% 64% 64% 64% 64% 65% 65% 65% 65% 65% 65% 65% 65% 65% 65% 65% 65% 66% 66% 66% 66% 66% 66% 66% 66% 66% 66% 66% 66% 67% 67% 67% 67% 67% 67% 67% 67% 67% 67% 67% 67% 68% 68% 68% 68% 68% 68% 68% 68% 68% 68% 68% 68% 69% 69% 69% 69% 69% 69% 69% 69% 69% 69% 69% 69% 70% 70% 70% 70% 70% 70% 70% 70% 70% 70% 70% 70% 71% 71% 71% 71% 71% 71% 71% 71% 71% 71% 71% 71% 72% 72% 72% 72% 72% 72% 72% 72% 72% 72% 72% 72% 73% 73% 73% 73% 73% 73% 73% 73% 73% 73% 73% 73% 74% 74% 74% 74% 74% 74% 74% 74% 74% 74% 74% 74% 75% 75% 75% 75% 75% 75% 75% 75% 75% 75% 75% 75% 75% 76% 76% 76% 76% 76% 76% 76% 76% 76% 76% 76% 76% 77% 77% 77% 77% 77% 77% 77% 77% 77% 77% 77% 77% 78% 78% 78% 78% 78% 78% 78% 78% 78% 78% 78% 78% 79% 79% 79% 79% 79% 79% 79% 79% 79% 79% 79% 79% 80% 80% 80% 80% 80% 80% 80% 80% 80% 80% 80% 80% 81% 81% 81% 81% 81% 81% 81% 81% 81% 81% 81% 81% 82% 82% 82% 82% 82% 82% 82% 82% 82% 82% 82% 82% 83% 83% 83% 83% 83% 83% 83% 83% 83% 83% 83% 83% 84% 84% 84% 84% 84% 84% 84% 84% 84% 84% 84% 84% 85% 85% 85% 85% 85% 85% 85% 85% 85% 85% 85% 85% 86% 86% 86% 86% 86% 86% 86% 86% 86% 86% 86% 86% 87% 87% 87% 87% 87% 87% 87% 87% 87% 87% 87% 87% 87% 88% 88% 88% 88% 88% 88% 88% 88% 88% 88% 88% 88% 89% 89% 89% 89% 89% 89% 89% 89% 89% 89% 89% 89% 90% 90% 90% 90% 90% 90% 90% 90% 90% 90% 90% 90% 91% 91% 91% 91% 91% 91% 91% 91% 91% 91% 91% 91% 92% 92% 92% 92% 92% 92% 92% 92% 92% 92% 92% 92% 93% 93% 93% 93% 93% 93% 93% 93% 93% 93% 93% 93% 94% 94% 94% 94% 94% 94% 94% 94% 94% 94% 94% 94% 95% 95% 95% 95% 95% 95% 95% 95% 95% 95% 95% 95% 96% 96% 96% 96% 96% 96% 96% 96% 96% 96% 96% 96% 97% 97% 97% 97% 97% 97% 97% 97% 97% 97% 97% 97% 98% 98% 98% 98% 98% 98% 98% 98% 98% 98% 98% 98% 99% 99% 99% 99% 99% 99% 99% 99% 99% 99% 99% 99%

[1633353819.347997]: [0;37mInvaild matches: [0m0
[1633353819.348003]: [0;37mVaild rate: [0m1
[1633353819.348017]: [0;32mMatching finished![0m
[1633353819.348021]: [0;33mWriting results...[0m
[1633353819.364523]: [0;33mSaving results...[0m
[1633353819.364603]: [0;32mResults saved![0m
[1633353819.364609]: [0;33mStart synchronzing...[0m

Synchronzing progress:

[1633353819.364631]: [0;32mSync finished![0m
[1633353819.364647]: [0;32mSync results saved![0m
J: -nan
-nan
[1633353819.364661]: [1;31mCan't find J21, J22[0m
[1633353819.364664]: [1;31mFailed calibration.[0m
J: -nan
-nan
[1633353819.364671]: [1;31mCan't find J21, J22[0m
[1633353819.364674]: [1;31mFailed calibration.[0m
J: -nan
-nan
[1633353819.364681]: [1;31mCan't find J21, J22[0m
[1633353819.364684]: [1;31mFailed calibration.[0m
J: -nan
-nan
[1633353819.364691]: [1;31mCan't find J21, J22[0m
[1633353819.364693]: [1;31mFailed calibration.[0m
J: -nan
-nan
[1633353819.364700]: [1;31mCan't find J21, J22[0m
[1633353819.364703]: [1;31mFailed calibration.[0m

-------Errors (std dev)-------
LiDAR-odom x: -nan mm
LiDAR-odom y: -nan mm
LiDAR-odom yaw: -nan deg

-------Uncertainty-------
Uncertainty Left wheel radius : -nan mm
Uncertainty Right wheel radius : -nan mm
Uncertainty Axle between wheels : -nan mm
Uncertainty LiDAR-odom-x : -nan mm
Uncertainty LiDAR-odom-y : -nan mm
Uncertainty LiDAR-odom-yaw : inf deg

I have try to go straightly or rotate at place, all ways can not get a good result. I see odom and laser on Rviz, they look normal. So should I do something to get a good result?

[adiego73]

From what I can see on the log, you have 0 odom_topic messages:

[1633353814.631275]: [0;37modom size: [0m0