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SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
GNU Lesser General Public License v2.1
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karto-scan-visualization frame does not take mounting position into account #366

Open NikolasE opened 3 years ago

NikolasE commented 3 years ago

Required Info:

Steps to reproduce issue

Use scanner that looks to the side, activate the interactive mode and select an interactive marker

Expected behavior

Visualized laserscan fits quite well to the map

Actual behavior

Visualized laserscan has wrong orientation (and maybe also position)

The laser-scanner is mounted so that it looks 90deg to the right (along robots negative y-axis). But it looks as if the frame sb_frame

If the frame is manually rotated by 90deg to the right, the laser fits sb_rotated

The frame is computed in void LoopClosureAssistant::processInteractiveFeedback and I think only the robots pose is used here (via solver_->GetNodeOrientation)

SteveMacenski commented 3 years ago

I believe the updates in PRs #325 - #362 might fix this for you if we use the robot pose in the edges / nodes. Please try with a serialized file generated from one of those PR branches?

If that doesn't fix, a PR to resolve would be nice!

SteveMacenski commented 3 years ago

@NikolasE did it solve your issue? They've also been merged, but it will only work on new serialized files with the new version

NikolasE commented 3 years ago

I can check next week, my mapping setup is in the office am I'm not ;)

SteveMacenski commented 3 years ago

How'd it go?

Wimll commented 2 years ago

@NikolasE I am facing the same issue on my setup w.r.t. the position of the laser scan, did you solve this in the end?