odom_frame and sensor_frame

ethz-asl / segmap

A map representation based on 3D segments

BSD 3-Clause "New" or "Revised" License

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odom_frame and sensor_frame #168

Open narutojxl opened 3 years ago

narutojxl commented 3 years ago

Hi, @danieldugas, when roslaunch segmapper kitti_loop_closure.launch, odom_frame is "world", sensor_frame is "velodyne", the TF between them is published by the bag. As in laser_slam_worker.cpp#L99, the slam_worker need this transform. It seems that i have to provide this TF before use my own data.

Does there have existed some open sourced project fusing wheel odom and imu to provide this odom?

Thanks very much for your help in advance !

huuxi commented 2 years ago

Have you solved this problem?

narutojxl commented 2 years ago

Hi @huuxi, It’s been a long time since this matter was continued, so this problem should not have been resolved at that time. Sorry for that. If you have some progress, please update, thanks for your help.