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TixiaoShan / LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
BSD 3-Clause "New" or "Revised" License
3.38k stars 1.25k forks source link

Unknown frame map #331

Closed DevAB-Git closed 2 years ago

DevAB-Git commented 2 years ago

Hi,

I'm new to robotics. I'm trying to use this package with ROS Noetic (roslaunch lio_sam run.launch). However, my rviz shows that there is no transformation from base_link (chassis_link, imu_link, navast_link, and velodyne_link) to frame map. The base_link status is fixed frame does not exist and the Global Status is unknown frame map.

I think it is a very basic problem. I have read all the issues but could not find a similar problem faced by anyone else :(

Thanks in advanc Screenshot from 2022-04-11 13-43-24 e

aladin2022 commented 2 years ago

I am facing the same problem, any solution ?

TixiaoShan commented 2 years ago

Was the package built successfully?

There are a few changes that need to be done for Noetic.

https://github.com/TixiaoShan/LIO-SAM/issues/206#issuecomment-1095370894

DevAB-Git commented 2 years ago

Morning Tixiao Shan, Thank you for your reply. Yes, the package was built successfully. I'm using the noetic version from https://github.com/juliangaal/LIO-SAM

In this package, the CMakeLists.txt does not set CMAKE_CXX_FLAGS, I added set(CMAKE_CXX_FLAGS "-std=c++14") after set(CMAKE_CXX_STANDARD 14). Moreover, I moved #include <opencv2/opencv.hpp> after the pcl headers. build the package and run roslaunch lio_sam run.launch. Same error :(

Note: I don't have a robot. I'm using ROS and Gazebo. I tried to run roscore first and then roslaunch lio_sam run.launch but have the same error.

A simple question: The line _

param name="tf_prefix" value="$(env ROS_HOSTNAME)"

_ in the module_robot_state_publisher.launch is commented. Do I need to set some ROS_HOSTNAME and uncomment it?

Please let me know if any other information is required. Thanks in advance.

Here's the terminal log:

roslaunch lio_sam run.launch ... logging to /home/absiddique/.ros/log/cbaa93f8-b9c8-11ec-a5f0-e9669ff16237/roslaunch-SFTI-ROBOTICS-55761.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://10.140.69.135:45141/

SUMMARY

PARAMETERS

NODES / ekf_gps (robot_localization/ekf_localization_node) lio_sam_featureExtraction (lio_sam/lio_sam_featureExtraction) lio_sam_imageProjection (lio_sam/lio_sam_imageProjection) lio_sam_imuPreintegration (lio_sam/lio_sam_imuPreintegration) lio_sam_mapOptmization (lio_sam/lio_sam_mapOptmization) lio_sam_rviz (rviz/rviz) navsat (robot_localization/navsat_transform_node) robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master process[master]: started with pid [55771] ROS_MASTER_URI=http://localhost:11311

setting /run_id to cbaa93f8-b9c8-11ec-a5f0-e9669ff16237 process[rosout-1]: started with pid [55781] started core service [/rosout] process[lio_sam_imuPreintegration-2]: started with pid [55788] process[lio_sam_imageProjection-3]: started with pid [55789] process[lio_sam_featureExtraction-4]: started with pid [55790] process[lio_sam_mapOptmization-5]: started with pid [55791] process[robot_state_publisher-6]: started with pid [55802] process[ekf_gps-7]: started with pid [55803] process[navsat-8]: started with pid [55809] process[lio_sam_rviz-9]: started with pid [55814] [ INFO] [1649703261.071053493]: ----> Image Projection Started. [ INFO] [1649703261.095089322]: ----> Feature Extraction Started. [ INFO] [1649703261.112535252]: ----> IMU Preintegration Started. [ INFO] [1649703261.120666596]: ----> Map Optimization Started.

TixiaoShan commented 2 years ago

I don't have experience running LIO-SAM with Gazebo. But some users have successfully done it before.

https://github.com/engcang/SLAM-application

DevAB-Git commented 2 years ago

Thanks Tixiao Shan for all the support and suggestions. I managed to run it :) @aladin2022 first run a gazebo package that can launch your robot (urdf) and then run the lio_sam package. It is noted that you have to adjust the parameters according to your robot (urdf).

LiuYiKai6 commented 1 year ago

Thanks Tixiao Shan for all the support and suggestions. I managed to run it :) @aladin2022 first run a gazebo package that can launch your robot (urdf) and then run the lio_sam package. It is noted that you have to adjust the parameters according to your robot (urdf).

hello, may I ask how you solved the problem?

DeepDuke commented 1 year ago

I met this problem in ros noetic. No frame called map. Could u tell me how do u fix it? Thank you!

SEUZTh commented 1 year ago

I met this problem in ros noetic. No frame called map. Could u tell me how do u fix it? Thank you!我在 ros noetic 中遇到了这个问题。没有称为地图的框架。你能告诉我你怎么解决它吗？谢谢！

Hi, have you solved the problem?

mnoweo commented 1 year ago

Modify Fixed Frame in Global Options and map to base_link. Different datasets modify parameters in config/params.yaml. For example, Rotation dataset's imu topic needs to be changed to imuTopic: "imu_correct", and "extrinsicRot" and "extrinsicRPY" need to be set to rotation matrix.