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ethz-asl / ethzasl_icp_mapping

3D mapping tools for robotic applications
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Running error of icp_mapper #74

Open Babaevzhu opened 5 years ago

Babaevzhu commented 5 years ago

Please give me some help. I catkin_make the project successfully, but when i run the mapper node with rosbag, it shows:[ERROR] [1547624044.906055322]: I found no good points in the cloud. my data is in laser scan format not pointcloud, so I modify the PointMatcher_ros::rosMsgToPointMatcherCloud function in libpointmatcher to confirm whether the scan data is transformed properly. As a result, it shows: libpointmatcher_ros: Couldn't transform point: Lookup would require extrapolation into the past. Requested time 1499154210.786858415 but the earliest data is at time 1547624037.313028756, when looking up transform from frame [laser_link] to frame [map]. I don't know how to solve the problem because this rosbag is running well in other slam project.

SubMishMar commented 5 years ago

I will suggest you to set the rosparamuse_sim_time to true and use the flag --clock when you run your blag file.