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erik-nelson / blam

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What happens after running offline launch? #47

Open eric26009 opened 5 years ago

eric26009 commented 5 years ago

I get the following message after running the test_offline.launch:

[ INFO] [1564378653.642062540]: /blam/blam_slam/BlamSlamOffline: Finished processing bag file, 99.998530 percent of real-time.

It just hangs after that..

I am confused as to what is supposed to after after completing this process. I am looking to save a PCD file of the map generated or some other from of the map.

BW25 commented 4 years ago

BLAM does not run visualization by default. It uses rviz for this purpose, which must be started separately.

When running BLAM, in a separate terminal, this command, replacing "path" with the path to your blam-master directory: rviz -d /path/blam-master/internal/src/blam_example/rviz/lidar_slam.rviz

From here you can use screenshots to capture images.

To get the trajectory data, I have been using this python script. It is a modified version of a script to capture the trajectory of another SLAM program, loam velodyne. It simply captures the trajectory data sent by BLAM over ROS and writes it to a file.

https://github.com/BW25/record_blam_odometry/blob/master/record_blam_odometry.py

ShreyanshDarshan commented 4 years ago

@eric26009 You can use rosrun pcl_ros pointcloud_to_pcd input:=/blam/blam_slam/octree_map_updates to make PCD files of messages coming to the /blam/blam_slam/octree_map_updates topic.