victorreijgwart
commented
3 years ago From the TF tree it looks like the timestamps of velodyne_nodelet_manager are 1744584 seconds behind the rest of the system. Are you running voxgraph on a live robot, from a rosbag or in simulation?
If you're running it from rosbag or in simulation, you should set the use_sim_time param to true before launching the other nodes. If you're running it from a rosbag, you should also supply it with the --clock argument.
bulinx
In rviz, I have changed different frame, there is no map have created ：
At the same time, new questions occur,
1 : when I set the 
I'm sorry to ask this seemingly simple question. But I haven't found a solution for a long time. I have installed voxgraph and run the packages then have a good result, when I use my own packages there have many problems（my platforms: ubuntu18 melodic), I want to realized coloring lidar point to creat dense map.
1 : I change the odometry source to hdl-graph-slam, my hdl tf tree :
there I change the voxgraph_mapper.yaml to :
2: I change the source of dense (depth) data to my coloring-lidarpoint（In fact, it is the color point obtained by the projection between the lidar and the camera）
there I change the pointcloud_topic to /pcl_coloring/velodyne_coloured
my launch flies :
My steps :
Final running result：
my odometry and depth data all failed to input.
So I don't know how to run your code correctly with my package. Can you provide some solutions? Thank you very much.