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LimHyungTae / patchwork

SOTA fast and robust ground segmentation using 3D point cloud (accepted in RA-L'21 w/ IROS'21)
MIT License
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Unable to visualiz pointcloud #36

Open Ayane11 opened 1 month ago

Ayane11 commented 1 month ago

When I'm using run_patchwork.launch and my own dataset, I want to visualize the "ground" topic in rviz, but it tells me that

Transform [sender=unknown_publisher] For frame [laser_link]: Fixed Frame [map] does not exist

In the terminal, I saw: 10108th| Time takes 1.02 ms (979.52 Hz). # cloud: 24964 -> 6649 10109th node come Failed to find match for field 'label'. Failed to find match for field 'id'. Operating patchwork... 10109th| Time takes 2.22 ms (450.37 Hz). # cloud: 24887 -> 6545 10110th node come Failed to find match for field 'label'. Failed to find match for field 'id'. Operating patchwork... 10110th| Time takes 2.80 ms (356.84 Hz). # cloud: 24707 -> 5910

could you help me? Screenshot from 2024-10-15 14-00-24

LimHyungTae commented 1 month ago

It must due to the frame issue. Could you check the 'Fixed Frame' slot?

LimHyungTae commented 1 month ago 
condParam<std::string>(nh, "frame_patchwork", frame_patchwork, frame_patchwork);

And you can assign the specific frame by using that parameter