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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
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Run LIO-SAM with Carla and ROS2 #469

Open guzgonav opened 7 months ago

guzgonav commented 7 months ago

Hi, I've been trying to use LIO-SAM to map a ros2bag recorded in carla, however I'm not able to make it work. The topics I have are the following ones: 

/carla/ego_vehicle/control/set_transform
/carla/ego_vehicle/enable_autopilot
/carla/ego_vehicle/gnss
/carla/ego_vehicle/imu
/carla/ego_vehicle/lidar
/carla/ego_vehicle/odometry
/carla/ego_vehicle/rgb_front/camera_info
/carla/ego_vehicle/rgb_front/image
/carla/ego_vehicle/rgb_view/camera_info
/carla/ego_vehicle/rgb_view/image
/carla/ego_vehicle/speedometer
/carla/ego_vehicle/vehicle_control_manual_override
/carla/map
/carla/markers
/carla/markers/static
/clock
/events/read_split
/events/write_split
/parameter_events
/rosout
/tf

The tf_tree is the following: image

So I've changes the params.yaml topics settings to: 

# Topics
    pointCloudTopic: "/carla/ego_vehicle/lidar"                   # Point cloud data
    imuTopic: "/carla/ego_vehicle/imu"                        # IMU data
    odomTopic: "/carla/ego_vehicle/odometry"                    # IMU pre-preintegration odometry, same frequency as IMU
    gpsTopic: "/carla/ego_vehicle/gnss"                    # GPS odometry topic from navsat, see module_navsat.launch file

With that changes, the SLAM algorithm doesn't work, what else do I need to modify?

Thanks in advance :)

TZECHIN6 commented 7 months ago

Can u clarify how it doesn't work? Miss aligned or even no map is built

guzgonav commented 5 months ago

It didn't show map at all, I finally made it work changing the following in config/params.yaml

    # Topics
    pointCloudTopic: "/carla/ego_vehicle/lidar"                   # Point cloud data
    imuTopic: "/carla/ego_vehicle/imu"                        # IMU data
    odomTopic: "/carla/ego_vehicle/odometry"                    # IMU pre-preintegration odometry, same frequency as IMU
    gpsTopic: "/carla/ego_vehicle/gnss"                    # GPS odometry topic from navsat, see module_navsat.launch file

    # Frames
    lidarFrame: "ego_vehicle/lidar"
    baselinkFrame: "ego_vehicle"
    odometryFrame: "odom"
    mapFrame: "map"