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RozDavid / LOL

LOL: Lidar-only Odometry and Localization in 3D point cloud maps
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How to obtain the robot location inferred by LOL? #8

Closed WilliamWoo45 closed 3 years ago

WilliamWoo45 commented 3 years ago

Hi @RozDavid,

Thanks for providing such great work.

I have one question: For LOL, how do you obtain the real-time robot location inferred by LOL? Did you get it by echo the tf relationship between the /base_link and /map, say rosrun tf tf_echo /map /base_link? Or is there any rostopic that I can check?

Thanks and Best Regards, William

RozDavid commented 3 years ago

Hey @WilliamWoo45,

Glad you tried our work! We only broadcast poses on the tf tree, so I would suggest as you though to look for the frames. For that you can try rosrun, but I think its a bit easier to interpret if you fire up an rvizwindow, and visualize the /tfframes in there with /map as the fixed frame. There you could also see the streming clouds and the aggregated map as well.

Hope this will help, and please continue if you need any further help!

WilliamWoo45 commented 3 years ago

Hi @RozDavid,

Thanks for your prompt and detailed reply. Stay safe and all the best!

Best Regards, William