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hku-mars / loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
GNU General Public License v2.0
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Problems getting this working with ROS navigation stack #19

Closed griz1112 closed 4 years ago

griz1112 commented 4 years ago

I'm trying to integrate loam-livox with the ROS nav stack on my rover. The stack is working with a ZED camera and Rtabmap now. When I try and switch it over to loam-livox I can see the map if I run velodyne_cloud_registered into octomap_server. So that appears to be working. However when the robot moves I see the aft_mapped odometry moving but its not moving the robot model in rviz like its supposed too. Noticed that loam-livox doesn't publish odom or map like the other mapping software I've used does. So thinking that incorrect setup of the tf is what is causing my issue. Have you used it with ROS navigation?

ziv-lin commented 4 years ago

Sorry, I can not fully understand your problems, can you provide me more information about your issue.

griz1112 commented 4 years ago

I managed to get it working.