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NeBula-Autonomy / nebula-odometry-dataset

Ready to test your SLAM system in challenging datasets from extreme environments? Try this out! The dataset is provided by the Team CoSTAR that has been intensively testing multi-robot systems in real world environments such as caves, tunnels, abandoned factories and industrial plants for the DARPA Subterranean Challenge.
MIT License
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Question about coordinate system #11

Closed ONMEKEEP closed 2 years ago

ONMEKEEP commented 2 years ago

Hello. I have some questions about the coordinate system. If possible, I hope you can provide a clearer and more detailed explanation.

  1. What does the frame_id "arch" stand for？
  2. How to get the transformation from velodyne to base_link?
femust commented 2 years ago

Hey @ONMEKEEP

  1. Arch is a fixed physical thing that the sensors are attached to (the black thing), it has a reference system. image
  2. Chain of transformations, this is the thing that you are looking for. arch <-> base_link is fixed (constant in time), just translation vector, you can assume just identity in most cases (depending on how you compare to the ground truth). In any case, you can use also the loading procedure from robot_description in locus. There, we show how we load all params from yaml file (sensor_{robot}.yaml).
ONMEKEEP commented 2 years ago

Thanks a lot. What you have described is helpful to me.

femust commented 2 years ago

ok closing then :) have fun