Curious - with the tf transform for map->floor

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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Curious - with the tf transform for map->floor #336

Closed HappySamuel closed 3 years ago

HappySamuel commented 3 years ago

Hi @at-wat

Why is there a need for publishing the map->floor transform? What's the concept of needing this transform?

Best, Samuel

at-wat commented 3 years ago

I used floor frame for visualization. When robot climbs to the second or higher floor, global origin on the ground is too far from the robot position.

HappySamuel commented 3 years ago

Hi @at-wat

That's a nice design. I never thought that the visualization of robot on a multi-floor map can be handled like this.

Best, Samuel