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ethz-asl / ethzasl_icp_mapping

3D mapping tools for robotic applications
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icp mapper ignoring scans #75

Closed SubMishMar closed 5 years ago

SubMishMar commented 5 years ago

I am using dynamic mapper with kitti dataset but I get an error which complains: [ERROR] [1549648619.066825900, 1317664535.404973199]: Unexpected exception... ignoring scan The kitti dataset has laser scans collected using a velodyne 64e lidar so I am using: roslaunch ethzasl_icp_mapper grizzly_dynamic_mapper_outdoor.launch. Anyone here had the same issue?

SubMishMar commented 5 years ago

I realized that the lidar generated pointcloud must have a field named "ring". Kitti dataset does not provide them and the user has to add it on his/her own. On adding this the error vanished and the algorithm works fine. The code to add ring to kitti data can be found here: https://github.com/SubMishMar/add_ring