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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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SLAM estimate data #283

Open ShashwatMahapatra opened 3 months ago

ShashwatMahapatra commented 3 months ago

First of all I would like to thank the creators of the Lego-LOAM @TixiaoShan , this is a brilliant algorithm and works amazingly. I am fairly new to SLAM and ROS in general, thus I am seeking advice on a certain doubt. I would like to extract pose estimate data and i have carried out rostopic echo command on all the topics displayed in the rviz, however with no concrete conclusion in sight i would like to know if there is a way to extract estimate data in the format of [#timestamp tx ty tz]. I would greatly appreciate it if there is a method to do so or which topic to subscribe to.

ShashwatMahapatra commented 3 months ago

I just want to know which topic i need to subscribe on to get the pose data, i tried /integrated_to_init and it did not seem to help.