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Rongxi-Zhang / radar-robotcar-dataset-ros

ROS1/2 Interface of the Oxford (Radar) RobotCar Dataset
GNU General Public License v3.0
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LMS-151 LIDAR Issues #3

Open hofbauerc opened 1 year ago

hofbauerc commented 1 year ago

Hello,

I am trying to use the oxford dataset with ros2 (humble). I converted the github package to Humble with some small adjustments (mostly CMake changes) and it works without problems. All the sensors can be visualizes in RVIZ. However when I try to visualize the SICK sensor inside RVIZ, all the points are placed along the three axis as seen in the following picture: image

All the other sensors work perfectly fine so I am assuming that the package works correctly.

Is there some other thing that needs to be set up in order for the SICK sensors to work properly?

I am using the 1GB sample: 2019-01-10-14-36-48-radar-oxford-10k-partial

Thanks in advance.

Rongxi-Zhang commented 1 year ago

Thank you for your attention to this work. As for the data format of 2d lidar, I only found the relevant explanation on the official website of Oxford RobotCar Dataset and simply used the point cloud form to try to read (in fact, it is better to use Laserscan to display these data). The result is as your Rviz show. Maybe the file is read in an incorrect way or for other reasons. I have yet to solve this problem for the time being, but I will find time to solve it in the future. If you solve this problem, you can create a new ROS2 (Humble) branch. https://robotcar-dataset.robots.ox.ac.uk/documentation/