How to test velodyne dataset?

AIS-Bonn / mrs_laser_map

Local Multiresolution Grids for Efficient 3D Laser Mapping and Localization

BSD 3-Clause "New" or "Revised" License

79 stars 46 forks source link

How to test velodyne dataset? #4

Open jxhstrive opened 5 years ago

jxhstrive commented 5 years ago

Hi author, I run velodynemapping.launch file and found it was nothing displayed on rviz. Did you have any suggestions to modify launch file parameters? Thanks for your reply very much O(∩∩)O~

Razlaw commented 4 years ago

Hey, you need a .bag file containing point clouds and tfs in order to use this launch file. You need to specify the path to that bag file in the "bagfile" parameter in the third row of the .launch file. Make sure the .bag file contains a transform from base_link to the velodyne frame - or change the "scan_assembler_frame_id" and "sensor_frame_id" parameters in the launch file according to your setup.