search

MegviiRobot / OdomLaserCalibraTool

Extrinsic Calibration of a Odom and 2d Laser
360 stars 164 forks source link

Suggestions #2

Open zhangjian-neu opened 5 years ago

zhangjian-neu commented 5 years ago

Thanks for your excellent work.

I have two suggestions for improving this package:

  1. To facilitate the followers, the developers are encouraged to provide an example rosbag.

  2. Please explain more about the statement in your blog, "注意：代码可以标定车轮半径等内参数，但是需要你提供左右轮的速度，实际上左右轮速度都知道了，就不需要标定半径了。因此，我们对需求进行了改动，需要你提供 ros odom 数据格式（机器人前进速度和角速度），代码中会假定一个车轮半径和轮间距，从而给你算出一个码盘内参数。"

If possible, could you please indicate what every element in the required 'geometry_msgs::Vector3Stamped' (odometer) represents? Or, the meaning of the variables 'tmp.v_l' and 'tmp.v_r' (io.cpp, line76)?

paulwong16 commented 5 years ago

Thanks for your excellent work.

I have two suggestions for improving this package:

  1. To facilitate the followers, the developers are encouraged to provide an example rosbag.
  2. Please explain more about the statement in your blog, "注意：代码可以标定车轮半径等内参数，但是需要你提供左右轮的速度，实际上左右轮速度都知道了，就不需要标定半径了。因此，我们对需求进行了改动，需要你提供 ros odom 数据格式（机器人前进速度和角速度），代码中会假定一个车轮半径和轮间距，从而给你算出一个码盘内参数。"

If possible, could you please indicate what every element in the required 'geometry_msgs::Vector3Stamped' (odometer) represents? Or, the meaning of the variables 'tmp.v_l' and 'tmp.v_r' (io.cpp, line76)?

Sorry for the late reply.

For the suggestion 1 please leave your mail address here and I will send you an example rosbag ASAP.

For the second one, if you need to calibrate your wheels then you should record the angular velocity of both two wheels. And in our experiment we do not need to calibrate the wheels, so we only provided the body velocity, and calculate the angular velocities of two wheels with body velocity and fake parameters of wheels' radius and track. Just for testing.

Thanks.

Zhijie.

jiayi0723 commented 4 years ago

請問能不能也發給我example rosbag 試看看(我用自己錄的rosbag誤差很大) 請放在這個google drive 上: https://drive.google.com/drive/folders/1rbIeLl8nRSY3FBXGcIrFKFFIner1PYc9?usp=sharing

paulwong16 commented 4 years ago

請問能不能也發給我example rosbag 試看看(我用自己錄的rosbag誤差很大) 請放在這個google drive 上: https://drive.google.com/drive/folders/1rbIeLl8nRSY3FBXGcIrFKFFIner1PYc9?usp=sharing

was uploaded.

chenxiaocongAI commented 3 years ago

@paulwong16 可以发我一份吗？我的邮箱348733501@qq.com

sumwms commented 3 years ago

@paulwong16 Could you please provide me with a sample Rosbag? sum_wms@126.com

EDISION654 commented 2 years ago

Sorry for the late reply.

For the suggestion 1 please leave your mail address here and I will send you an example rosbag ASAP.

For the second one, if you need to calibrate your wheels then you should record the angular velocity of both two wheels. And in our experiment we do not need to calibrate the wheels, so we only provided the body velocity, and calculate the angular velocities of two wheels with body velocity and fake parameters of wheels' radius and track. Just for testing.

Thanks.

Zhijie.

请问可以给我发送一份example rosbag吗？我的邮箱号2625934840@qq.com

liuxin-SH commented 1 year ago

请问可以给我发送一份example rosbag吗？我的邮箱号787245650@qq.com