Why mcl_3dl will stop if using tf static_transform_publisher with x_offset?

at-wat / mcl_3dl

A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.

BSD 3-Clause "New" or "Revised" License

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Why mcl_3dl will stop if using tf static_transform_publisher with x_offset? #249

Closed HappySamuel closed 4 years ago

HappySamuel commented 5 years ago

I set up a static_transform_publisher using tf2_ros for the "base_link -> 3d_lidar" transform. I also got the "odom -> base_link" provided by my gyro_odometry. However, with the following setup: Screenshot from 2019-08-13 10-57-40

I tested with having x_offset with any value, will result the mcl_3dl to run for a while, then stop abruptly without given any error. However with z_offset to be any value, the mcl_3dl wont have this issue.

Do you know why? I tested it with the real robot, and found this issue.

Best, Samuel

at-wat commented 4 years ago

Do you mean

static transform of 0 0 0.45 doesn't works
static transform of 0.54 0 0.45 works

I couldn't reproduce the problem by applying some patterns of laser frame static transforms. Could you provide rosrun tf view_frames result and/or your full launch configurations?

at-wat commented 4 years ago

Closing as the problem can't be reproduced. Feel free to reopen, or open a new issue, if you have any another question on this topic. Attaching a full configuration which reproduces the problem would be great.