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ZJU-Robotics-Lab / GEM

GEM: Online Globally consistent dense elevation mapping for unstructured terrain.
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How to use this process？ #7

Open renjiahao0928 opened 2 years ago

renjiahao0928 commented 2 years ago

Thanks for your efforts. When I finished configuring its dependencies,I found that I could not use the realsense-d435i to run this code.Can you tell me how to use it?How to modify the configuration file？Thanks

MaverickPeter commented 2 years ago

Hi renjiahao. To use d435i, you need to first change topic name in https://github.com/ZJU-Robotics-Lab/GEM/blob/50142727e8e9aa4a38353269cfd33d2ec5ae6a82/elevation_mapping/elevation_mapping_demos/launch/simple_demo.launch#L6-L7 and then some configs about frame_id should be changed in https://github.com/ZJU-Robotics-Lab/GEM/blob/50142727e8e9aa4a38353269cfd33d2ec5ae6a82/elevation_mapping/elevation_mapping_demos/config/robots/simple_demo_robot.yaml#L3-L6 and also you have to create a parameter file and link here https://github.com/ZJU-Robotics-Lab/GEM/blob/50142727e8e9aa4a38353269cfd33d2ec5ae6a82/elevation_mapping/elevation_mapping_demos/config/robots/simple_demo_robot.yaml#L16 When you finish things mentioned above, you can run it.

MaverickPeter commented 2 years ago

One more thing, you should first have a odometry running to provide a tf in tf tree. And then, in configuration, you have to modify the map frame id and sensor frame id according to this odometry.