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erik-nelson / blam

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transformation map->odom map->base_link #16

Open kilmarnock opened 7 years ago

kilmarnock commented 7 years ago

Hi! I try to setup your project with a 2D Lidar.

You publish the transformation map->odometry and map->base_link. My prefered setup is

map->odom->base_footprint->base_stabilized->base_link like hector_mapping does (please see drawing): http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot

What do I do with the vectors you publish? It works both ways, but the locations relative to the map are not the same (the vectors are not the same).

Thank you Felix

MohamedEhabHafez commented 5 years ago

Hi, Did you have tried your transformation setup with a simulation on rviz? because I have a problem with using blam with a husky. Your help and reply would be so appreciated.