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AlexKaravaev / ros2_laser_scan_matcher

Laser scan matcher ported to ROS2
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I don't have Odom_publisher #9

Open lucas33620 opened 2 years ago

lucas33620 commented 2 years ago

Hello, I would like to create an odometry with Lidar Hokuyo. I run ros2_laser_scan_matcher and i launch urg_node2 for the communication with Lidar. The topic of Lidar is /scan

However, i don't have an Odom in topic list. I see in rqt graph : rosgraph Screenshot from 2022-10-27 16-30-03

Can you help me plz ?

Natthawe commented 2 years ago

line 68 in laser_scan_matcher.cpp add_parameter("publish_odom", rclcpp::ParameterValue(std::string("odom"))