Map optimization wants topic /odometry/filtered to have datatype/md5sum[sensor_msgs/IMU/] dropping connection

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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Map optimization wants topic /odometry/filtered to have datatype/md5sum[sensor_msgs/IMU/] dropping connection #96

Closed Ashik19 closed 5 years ago

Ashik19 commented 5 years ago

@TixiaoShan , I am trying to use the robot localization package and use the /odometry/filtered topic generated from the EKF(extended kalman filter node) as the imu topic in the utility.h file.But somehow I am coming up with the given error.Can you please tell me how to address this problem ?

Thank you very much for your valuable time.

Best Ashik

HappySamuel commented 5 years ago

Hi @Ashik19

From what i know, "odometry/filtered" is originally from Robot Localization Package, and its message type is nav_msgs::Odometry. And what featureAssociation and mapOptimization are requesting sensor_msgs::Imu. So you need to give it IMU topic, instead of odometry topic.

Best, Samuel

Ashik19 commented 5 years ago

Hi @HappySamuel ,

Thank you very much for your kind reply. I have an INS unit which publishes /ins and /imu topic. The /ins is (navigation odometry) while the /imu is the imu.

The data provided by this 2 topics are following

When I am putting the /imu topic in the utility.h I am getting the following error

@TixiaoShan, can you please suggest me how I can address this problem ?

Thank you very much for your valuable time.

HappySamuel commented 5 years ago

Hi @Ashik19

Sorry for the late reply. The imu data stream that LeGO-LOAM package required is the orientation section. However, your /imu data stream is having the orientation all zeros. That's the reason causes the error message.

Best, Samuel