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cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.
Apache License 2.0
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configuration for the rotation direction of lidar and unwarp #1546

Open YasunariIguchi opened 3 years ago

YasunariIguchi commented 3 years ago

Hello. I am using cartographer with odometry data using RPLIDAR S1 or YDLIDAR TG30. I have a question about unwarp processing. .I noticed that both RPLidar (https://github.com/Slamtec/rplidar_ros) and YDlidar (https://github.com/YDLIDAR/ydlidar_ros_driver) order the data by increasing angle, (and in reverse chronological order). From my understanding, cartographer assumes the data are in chronological order, while the drivers do not meet this assumption. Is it possible to specify this configuration, or are the drivers wrong and should I change their code?

MikeHallettUK commented 3 years ago

I also raised this issue of "Using Cartographer ROS with clockwise Lidar"

Dsicussed with some resolution @ Issue

and @ Using Cartographer ROS with clockwise Lidar

But, still interested if Cartographer ROS has a solution ...