Open guzgonav opened 7 months ago
Can u clarify how it doesn't work? Miss aligned or even no map is built
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"
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:
The tf_tree is the following:![image](https://github.com/TixiaoShan/LIO-SAM/assets/98272323/e8916450-e9c3-4baf-870d-0511df6f915a)
So I've changes the params.yaml topics settings to:
With that changes, the SLAM algorithm doesn't work, what else do I need to modify?
Thanks in advance :)