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MAPIRlab / srf_laser_odometry

Robust Planar Odometry Based on Symmetric Range Flow and Multi-Scan Alignment
http://mapir.isa.uma.es/work/SRF-Odometry
GNU Lesser General Public License v3.0
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frame invert #6

Open IST-DEV20 opened 3 years ago

IST-DEV20 commented 3 years ago

how to fix problem /odom_frame invert /base_footprint_frame?

My ROS parameter

<node pkg="srf_laser_odometry" type="srf_laser_odometry_node" name="srf_laser_odometry" >
<param name="laser_scan_topic" value="/scan"/> # topic where the lidar scans are being published
<param name="odom_topic" value="/odom" /> # topic where tu publish the odometry estimations
<param name="publish_tf" value="true" /> # wheter or not to publish the tf::transform (base->odom)
<param name="base_frame_id" value="/base_footprint"/> # frame_id (tf) of the mobile robot base. A tf transform from the laser_frame to the base_frame is mandatory
<param name="odom_frame_id" value="/odom" /> # frame_id (tf) to publish the odometry estimations
<param name="init_pose_from_topic" value="" /> # Leave empty when no init pose desired
<param name="laser_decimation" value="1"/> # 1=use SRF on all lasers, 2= use each 2 lasers, etc.
<param name="laser_min_range" value="-1"/> # [m] Truncate laser scans measurements (-1 to ignore)
<param name="laser_max_range" value="-1"/> # [m] Truncate laser scans measurements (-1 to ignore)
<param name="operation_mode" value="HYBRID"/> # CS=consecutiveScans, KS=keyScans, HYBRID=threeScansWithKeyScan
</node>

thank you for reply

MRo47 commented 2 years ago

Did you manage to fix this? I'm thinking we need to pass init_pose_from_topic ?

MRo47 commented 2 years ago

Solved it in PR