camel007 commented 8 years ago

hi, nelson! I want to test it with my device(velodyne vlp-16), When I type in this command, it show these information and stop working `roslaunch blam_example test_online.launch ... logging to /home/nd/.ros/log/a45d32fe-44af-11e6-89b0-408d5c5086b9/roslaunch-nd-Z97X-UD3H-15283.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://nd-Z97X-UD3H:51340/

SUMMARY

PARAMETERS

/blam/blam_slam/check_for_loop_closures: True
/blam/blam_slam/filtering/decimate_percentage: 0.9
/blam/blam_slam/filtering/grid_filter: True
/blam/blam_slam/filtering/grid_res: 0.2
/blam/blam_slam/filtering/outlier_filter: False
/blam/blam_slam/filtering/outlier_knn: 10
/blam/blam_slam/filtering/outlier_std: 1.0
/blam/blam_slam/filtering/radius: 0.15
/blam/blam_slam/filtering/radius_filter: False
/blam/blam_slam/filtering/radius_knn: 3
/blam/blam_slam/filtering/random_filter: True
/blam/blam_slam/frame_id/base: base
/blam/blam_slam/frame_id/fixed: world
/blam/blam_slam/frame_id/odometry: odometry
/blam/blam_slam/icp/corr_dist: 2.0
/blam/blam_slam/icp/iterations: 10
/blam/blam_slam/icp/max_rotation: 0.1
/blam/blam_slam/icp/max_translation: 0.09
/blam/blam_slam/icp/tf_epsilon: 1e-10
/blam/blam_slam/icp/transform_thresholding: False
/blam/blam_slam/init/orientation/pitch: 0.0
/blam/blam_slam/init/orientation/roll: 0.0
/blam/blam_slam/init/orientation/yaw: 0.0
/blam/blam_slam/init/orientation_sigma/pitch: 0.02
/blam/blam_slam/init/orientation_sigma/roll: 0.02
/blam/blam_slam/init/orientation_sigma/yaw: 0.02
/blam/blam_slam/init/position/x: 0.0
/blam/blam_slam/init/position/y: 0.0
/blam/blam_slam/init/position/z: 0.0
/blam/blam_slam/init/position_sigma/x: 0.1
/blam/blam_slam/init/position_sigma/y: 0.1
/blam/blam_slam/init/position_sigma/z: 0.1
/blam/blam_slam/localization/corr_dist: 1.0
/blam/blam_slam/localization/iterations: 10
/blam/blam_slam/localization/max_rotation: 0.1
/blam/blam_slam/localization/max_translation: 0.05
/blam/blam_slam/localization/tf_epsilon: 1e-10
/blam/blam_slam/localization/transform_thresholding: False
/blam/blam_slam/map/octree_resolution: 0.05
/blam/blam_slam/max_tolerable_fitness: 0.15
/blam/blam_slam/poses_before_reclosing: 40
/blam/blam_slam/proximity_threshold: 1.5
/blam/blam_slam/rate/estimate: 20.0
/blam/blam_slam/rate/visualization: 0.5
/blam/blam_slam/relinearize_skip: 1
/blam/blam_slam/relinearize_threshold: 0.01
/blam/blam_slam/skip_recent_poses: 40
/blam/blam_slam/translation_threshold: 0.5
/blam/blam_slam/visualizer/enable_visualization: False
/rosdistro: indigo
/rosversion: 1.11.20
/use_sim_time: False

NODES /blam/ blam_slam (blam_slam/blam_slam_node)

auto-starting new master process[master]: started with pid [15295] ROS_MASTER_URI=http://localhost:11311

setting /run_id to a45d32fe-44af-11e6-89b0-408d5c5086b9 process[rosout-1]: started with pid [15308] started core service [/rosout] process[blam/blam_slam-2]: started with pid [15322] [ INFO] [1467943185.583695136]: /blam/blam_slam/BlamSlam: Registering online callbacks. ` Should I tune some parameters? Thanks for your help! Best Regards!

erik-nelson commented 8 years ago

That's all expected output. After receiving that, it's sitting there waiting for you to give it a sensor stream. Look in the launch file to find the topic that you should publish your VLP-16 point clouds to, and change it if it's not the right topic.

I think by default the VLP-16 publishes to a topic like /velodyne_points or /velodyne, so just set this line to whatever your topic is.

camel007 commented 8 years ago

Thank you!

erik-nelson / blam

real-time sensor stream #3

SUMMARY