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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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ouster lidar setting #134

Closed louis960126 closed 4 years ago

louis960126 commented 4 years ago

Hi, I have an ouster 64 channel lidar. I already change the topic name to ouster lidar's topic name and change the utility.h to os1-64, but there is still some problem to run LeGO-LOAM. Do i need to change other settings?

Thank you!

louis960126 commented 4 years ago

For frame [base_link]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation into the past. Requested time 1464.161704880 but the earliest data is at time 1571715599.269487703, when looking up transform from frame [base_link] to frame [map]]

louis960126 commented 4 years ago

velodyne lidar is ok

louis960126 commented 4 years ago

image image

TixiaoShan commented 4 years ago

Try to uncomment this line. https://github.com/RobustFieldAutonomyLab/LeGO-LOAM/blob/744254789c91ebe4851b4678be2c9f97e2f56c27/LeGO-LOAM/src/imageProjection.cpp#L159

LeisureLei commented 4 years ago

I meet the same problem.I play the bag file and I get nothing in rviz.There is alse a error in rviz :+1: For frame [base_link]: No transform to fixed frame [map]. TF error: [Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.] I also uncomment line 159 and catkin_make agian.Nothin changes. How can I fix this problem?

YiChenCityU commented 4 years ago

I meet the same problem.I play the bag file and I get nothing in rviz.There is alse a error in rviz For frame [base_link]: No transform to fixed frame [map]. TF error: [Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.] I also uncomment line 159 and catkin_make agian.Nothin changes. How can I fix this problem?

Hi, have you solved this problem?

YiChenCityU commented 4 years ago

Hi, I have an ouster 64 channel lidar. I already change the topic name to ouster lidar's topic name and change the utility.h to os1-64, but there is still some problem to run LeGO-LOAM. Do i need to change other settings?

Thank you!

Hi, have you solved this problem?

Oyssster commented 3 years ago

Hi,is there anyone solved this problem?

shahaizi0 commented 2 years ago

你好，请问有人解决了这个问题吗

orange-cr commented 1 year ago

I run the park.bag provided by lio-sam and meet the same problem. I solved this problem by: (1)in run.launch the parameter "/use_sim_time" is set to "true" (2)rosbag play park.bag --clock (3)uncomment this line in imageProjection.cpp at line 166 cloudHeader.stamp = ros::Time::now(); // Ouster lidar users may need to uncomment this line