Map not using Lidar frame as origin.

cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.

Apache License 2.0

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Map not using Lidar frame as origin. #1104

Open Master-Matt opened 5 years ago

Master-Matt commented 5 years ago

I recently transitioned to a 3d lidar plugin with gazebo and after switching my map origin is off. Cartographer still runs fine, but I'm not sure if this is a Gazebo bug or something else. Picture below shows that scan-matched points look fine, but the map is translated to base_footprint frame as origin, not my lidar_link frame: cart_map I changed the tracking frame to lidar_link and the map is correct, but then Rviz puts the map in the Lidar's plane. I never saw this issue with 2D lidar and Cart.

RichardHaesEllis commented 4 years ago

I'm also having this issue, the map is generated with the base_footprint as the origin of the robot instead of the lidar_link frame as the origin. And im also having the the whole map lifted (because its in the base_footprint link) , Any luck specifying the lidar link?