bug to test with the data specified in the paper

[deliangye]

run the node, it gets the following issue:

[JanQuenzel]

Hi @deliangye , this was caused by an incomplete clean up before source release and should be fixed now. I further included the option to specify the config file from the subfolder ./config/ You can run it now with: rosrun lidar_mars_registration lidar_mars_registration_node _config_file_rel:="./config/urban_loco.cfg"

Best, Jan

[deliangye]

Thanks! Jan. but the application seems stuck, see:

[JanQuenzel]

Hi @deliangye , at that time it is waiting for new incoming data. To make this more clear, I added a new message output after initialization and it should now say to which pointcloud topic it tries to subscribe. It should now look similar to the following, e.g. with oxford cfg:

$ rosrun lidar_mars_registration lidar_mars_registration_node _config_file_rel:="./config/oxford.cfg"
( uptime  ) [ thread name/id]        file:line     v| 
[main thread ]  loguru.hpp:1834     0| arguments: ./lidar_mars_registration_node _config_file_rel:=./config/oxford.cfg
[main thread ]  loguru.hpp:1837     0| Current dir: ./
[main thread ]  loguru.hpp:1839     0| stderr verbosity: 2
[main thread ]  loguru.hpp:1840     0| -----------------------------------
[main thread ]  loguru.hpp:1992     0| Logging to './lidar_mars_registration_node/20211214_111504.976.log', mode: 'w', verbosity: 9
[main thread ]MarsRegistration_Node.cxx:62       0| config file: ./config/oxford.cfg
[main thread ]MarsMapWindow.cxx:88       0| MarsMapWindow: numMaps: 3
[main thread ]MarsMapWindow.cxx:88       0| MarsMapWindow: numMaps: 3
[main thread ]MarsSplineRegistrationAdaptor.cxx:205      0| Subscribed for clouds to topic: /os1_cloud_node/points
[main thread ]MarsSplineRegistrationAdaptor.cxx:241      0| Initialized. Waiting for data...

Depending on the bag file you are planning to play, you have to adapt the cloud_topic for the registration_adaptor in the config file. For bag files from urban_loco there are 3 different topics throughout the whole dataset. Hence, I added for each one cfg (urban_loco_ca.cfg, urban_loco_hk.cfg, urban_loco_hk0.cfg) instead of the singular urban_loco.cfg . Best, Jan

[deliangye]

thanks Jan! it is running as yours.