I wonder how to use my rosbag date?

[sufjanmystery]

I have two VLP-16 equipmented like the handheld, and record the topics respectively in one rosbag. So how to run m-loam with my data?

[gogojjh]

Please check the launch file: https://github.com/gogojjh/M-LOAM/blob/mloam_gf/estimator/launch/mloam_handheld.launch

[sufjanmystery]

Please check the launch file: https://github.com/gogojjh/M-LOAM/blob/mloam_gf/estimator/launch/mloam_handheld.launch

thanks,i have run my data succuessfully, but i have new issues: 1.when running my data, the node always ends in the half of the bag, the parameters setted wrong?

2. where can i find the calibration results? i search the files in the results folder, but failed.

[gogojjh]

1. It is very difficult to figure out. Could you please first indicate which line does this issue occur?
2. Calibration results can be printed via. the terminal.

[sufjanmystery]

Very thanks for your answer,but i still failed to print the calibration results. I echo the TF topic the as below(using oxford data), but only the "/aft_mapped" transform was recorded, can you tell me which topic or what terminal to print the calibration results?

[gogojjh]

You can print the variable qbl[i] and tbl[i] for the extrinsics from the primary Lidar to the ith Lidar https://github.com/gogojjh/M-LOAM/blob/ff77e3550c12a3a51d67745050cccc541c3f6ec2/estimator/src/estimator/estimator.cpp#L1571