search

hku-mars / Point-LIO

Other
738 stars 122 forks source link

Topic "/Laser_map" has no message. #38

Open SSZ1 opened 1 year ago

SSZ1 commented 1 year ago

When I launch the point-lio, I echo the "/Laser_map", but it showed "has no new message" . How should I publish the topic in Point-lio? Thanks for your attention.

Joanna-HE commented 1 year ago

Please check the following two steps:

After launching the Point-LIO and playing the rosbag, use the command 'rostopic list' to show all the topics, and check if there are any topics published, and echo the topic with the right name. If there is no topic needed being published, check if the variable for publishing the according message is set as true in the '.yaml' file.

SSZ1 commented 1 year ago

All right. Thanks a lot.

SSZ1 commented 1 year ago

Please check the following two steps:

After launching the Point-LIO and playing the rosbag, use the command 'rostopic list' to show all the topics, and check if there are any topics published, and echo the topic with the right name. If there is no topic needed being published, check if the variable for publishing the according message is set as true in the '.yaml' file.

I have tried. But there is no variable about "/Laser_map" in yaml file. And I saw the publisher of "/Laser_map" in cpp file was "publish_init_kdtree(pubLaserCloudMap);", but there is still no message when I echoed it.

Joanna-HE commented 1 year ago

publish_init_kdtree only works for publishing the points of the initial kdtree, which means the /Laser_map will have message only at the beginning of the system run. After the kdtree is built, there would be no message in the topic /Laser_map. If you want to receive the message of point cloud during the running of the system, please echo /cloud_registered instead.

寄件者: SUN SHANGZHE @.> 寄件日期: 2023年7月19日 下午 09:05 收件者: hku-mars/Point-LIO @.> 副本: @. @.>; Comment @.***> 主旨: Re: [hku-mars/Point-LIO] Topic "/Laser_map" has no message. (Issue #38)

Please check the following two steps:

After launching the Point-LIO and playing the rosbag, use the command 'rostopic list' to show all the topics, and check if there are any topics published, and echo the topic with the right name. If there is no topic needed being published, check if the variable for publishing the according message is set as true in the '.yaml' file.

I have tried. But there is no variable about "/Laser_map" in yaml file. And I saw the publisher of "/Laser_map" in cpp file was "publish_init_kdtree(pubLaserCloudMap);", but there is still no message when I echoed it.

— Reply to this email directly, view it on GitHubhttps://github.com/hku-mars/Point-LIO/issues/38#issuecomment-1642048335, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXVN3YGQBFJSAEK7H3TXQ7LSDANCNFSM6AAAAAA2MK6GSQ. You are receiving this because you commented.Message ID: @.***>

Joanna-HE commented 1 year ago

Additionally, if you want to receive the message of /Laser_map, echo this topic before starting to play the rosbag.

寄件者: @. @.> 寄件日期: 2023年7月20日 上午 01:39 收件者: hku-mars/Point-LIO @.***> 主旨: 回覆: [hku-mars/Point-LIO] Topic "/Laser_map" has no message. (Issue #38)

publish_init_kdtree only works for publishing the points of the initial kdtree, which means the /Laser_map will have message only at the beginning of the system run. After the kdtree is built, there would be no message in the topic /Laser_map. If you want to receive the message of point cloud during the running of the system, please echo /cloud_registered instead.

寄件者: SUN SHANGZHE @.> 寄件日期: 2023年7月19日 下午 09:05 收件者: hku-mars/Point-LIO @.> 副本: @. @.>; Comment @.***> 主旨: Re: [hku-mars/Point-LIO] Topic "/Laser_map" has no message. (Issue #38)

Please check the following two steps:

After launching the Point-LIO and playing the rosbag, use the command 'rostopic list' to show all the topics, and check if there are any topics published, and echo the topic with the right name. If there is no topic needed being published, check if the variable for publishing the according message is set as true in the '.yaml' file.

I have tried. But there is no variable about "/Laser_map" in yaml file. And I saw the publisher of "/Laser_map" in cpp file was "publish_init_kdtree(pubLaserCloudMap);", but there is still no message when I echoed it.

— Reply to this email directly, view it on GitHubhttps://github.com/hku-mars/Point-LIO/issues/38#issuecomment-1642048335, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXVN3YGQBFJSAEK7H3TXQ7LSDANCNFSM6AAAAAA2MK6GSQ. You are receiving this because you commented.Message ID: @.***>

SSZ1 commented 1 year ago

Additionally, if you want to receive the message of /Laser_map, echo this topic before starting to play the rosbag. … ____ 寄件者: @. @.> 寄件日期: 2023年7月20日 上午 01:39 收件者: hku-mars/Point-LIO @.> 主旨: 回覆: [hku-mars/Point-LIO] Topic "/Laser_map" has no message. (Issue #38) publish_init_kdtree only works for publishing the points of the initial kdtree, which means the /Laser_map will have message only at the beginning of the system run. After the kdtree is built, there would be no message in the topic /Laser_map. If you want to receive the message of point cloud during the running of the system, please echo /cloud_registered instead. ____ 寄件者: SUN SHANGZHE @.> 寄件日期: 2023年7月19日 下午 09:05 收件者: hku-mars/Point-LIO @.> 副本: @. @.>; Comment @.> 主旨: Re: [hku-mars/Point-LIO] Topic "/Laser_map" has no message. (Issue #38) Please check the following two steps: After launching the Point-LIO and playing the rosbag, use the command 'rostopic list' to show all the topics, and check if there are any topics published, and echo the topic with the right name. If there is no topic needed being published, check if the variable for publishing the according message is set as true in the '.yaml' file. I have tried. But there is no variable about "/Laser_map" in yaml file. And I saw the publisher of "/Laser_map" in cpp file was "publish_init_kdtree(pubLaserCloudMap);", but there is still no message when I echoed it. — Reply to this email directly, view it on GitHub<#38 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXVN3YGQBFJSAEK7H3TXQ7LSDANCNFSM6AAAAAA2MK6GSQ. You are receiving this because you commented.Message ID: @.***>

Thanks a lot. But I wanna get the /Laser_map like in fast_lio2, which is received by downsampling. So I wonder if I can get this by add the code "publish_frame_world(pubLaserCloudMap)" ?

Joanna-HE commented 1 year ago

Yes, of course.

寄件者: SUN SHANGZHE @.> 寄件日期: 2023年7月20日 上午 11:47 收件者: hku-mars/Point-LIO @.> 副本: @. @.>; Comment @.***> 主旨: Re: [hku-mars/Point-LIO] Topic "/Laser_map" has no message. (Issue #38)

Additionally, if you want to receive the message of /Laser_map, echo this topic before starting to play the rosbag. … ____ 寄件者: @. @.> 寄件日期: 2023年7月20日 上午 01:39 收件者: hku-mars/Point-LIO @.> 主旨: 回覆: [hku-mars/Point-LIO] Topic "/Laser_map" has no message. (Issue #38https://github.com/hku-mars/Point-LIO/issues/38) publish_init_kdtree only works for publishing the points of the initial kdtree, which means the /Laser_map will have message only at the beginning of the system run. After the kdtree is built, there would be no message in the topic /Laser_map. If you want to receive the message of point cloud during the running of the system, please echo /cloud_registered instead. ____ 寄件者: SUN SHANGZHE @.> 寄件日期: 2023年7月19日 下午 09:05 收件者: hku-mars/Point-LIO @.> 副本: @. @.>; Comment @.> 主旨: Re: [hku-mars/Point-LIO] Topic "/Laser_map" has no message. (Issue #38https://github.com/hku-mars/Point-LIO/issues/38) Please check the following two steps: After launching the Point-LIO and playing the rosbag, use the command 'rostopic list' to show all the topics, and check if there are any topics published, and echo the topic with the right name. If there is no topic needed being published, check if the variable for publishing the according message is set as true in the '.yaml' file. I have tried. But there is no variable about "/Laser_map" in yaml file. And I saw the publisher of "/Laser_map" in cpp file was "publish_init_kdtree(pubLaserCloudMap);", but there is still no message when I echoed it. — Reply to this email directly, view it on GitHub<#38 (comment)https://github.com/hku-mars/Point-LIO/issues/38#issuecomment-1642048335>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXVN3YGQBFJSAEK7H3TXQ7LSDANCNFSM6AAAAAA2MK6GSQ. You are receiving this because you commented.Message ID: @.***>

Thanks a lot. But I wanna get the /Laser_map like in fast_lio2, which is received by downsampling. So I wonder if I can get this by add the code "publish_frame_world(pubLaserCloudMap)" ?

— Reply to this email directly, view it on GitHubhttps://github.com/hku-mars/Point-LIO/issues/38#issuecomment-1643066744, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXQDKJS6W6F2OOSUGY3XRCS57ANCNFSM6AAAAAA2MK6GSQ. You are receiving this because you commented.Message ID: @.***>

SSZ1 commented 1 year ago

Yes, of course. … ____ 寄件者: SUN SHANGZHE @.> 寄件日期: 2023年7月20日 上午 11:47 收件者: hku-mars/Point-LIO @.> 副本: @. @.>; Comment @.> 主旨: Re: [hku-mars/Point-LIO] Topic "/Laser_map" has no message. (Issue #38) Additionally, if you want to receive the message of /Laser_map, echo this topic before starting to play the rosbag. … ____ 寄件者: @. @.> 寄件日期: 2023年7月20日 上午 01:39 收件者: hku-mars/Point-LIO @.> 主旨: 回覆: [hku-mars/Point-LIO] Topic "/Laser_map" has no message. (Issue #38<#38>) publish_init_kdtree only works for publishing the points of the initial kdtree, which means the /Laser_map will have message only at the beginning of the system run. After the kdtree is built, there would be no message in the topic /Laser_map. If you want to receive the message of point cloud during the running of the system, please echo /cloud_registered instead. ____ 寄件者: SUN SHANGZHE @.> 寄件日期: 2023年7月19日 下午 09:05 收件者: hku-mars/Point-LIO @.> 副本: @. @.>; Comment @.> 主旨: Re: [hku-mars/Point-LIO] Topic "/Laser_map" has no message. (Issue #38<#38>) Please check the following two steps: After launching the Point-LIO and playing the rosbag, use the command 'rostopic list' to show all the topics, and check if there are any topics published, and echo the topic with the right name. If there is no topic needed being published, check if the variable for publishing the according message is set as true in the '.yaml' file. I have tried. But there is no variable about "/Laser_map" in yaml file. And I saw the publisher of "/Laser_map" in cpp file was "publish_init_kdtree(pubLaserCloudMap);", but there is still no message when I echoed it. — Reply to this email directly, view it on GitHub<#38 (comment)<#38 (comment)>>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXVN3YGQBFJSAEK7H3TXQ7LSDANCNFSM6AAAAAA2MK6GSQ. You are receiving this because you commented.Message ID: @.> Thanks a lot. But I wanna get the /Laser_map like in fast_lio2, which is received by downsampling. So I wonder if I can get this by add the code "publish_frame_world(pubLaserCloudMap)" ? — Reply to this email directly, view it on GitHub<#38 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXQDKJS6W6F2OOSUGY3XRCS57ANCNFSM6AAAAAA2MK6GSQ. You are receiving this because you commented.Message ID: @.***>

Oh~Thanks for your quick reply.