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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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Issue with TF #24

Closed griz1112 closed 4 years ago

griz1112 commented 4 years ago

Managed to get loam-livox working with the ROS navigation stack. Using octomap_server to create a 2-d map from velodyne_cloud_registered for the costmaps. I did run into an issue though. When I first set it up there were constant errors from ros_tf2 complaining about / in front of the camera_init frame. Tf2 doesn't allow / in front of frame names. Couldn't find any other source of the error so I edited laser_mapping.hpp and laser_feature_extractor.hpp changing all the instances of /camera_init to camera_init. The errors went away and the costmaps started working. Also using velodyne_cloud_registered as input for the costmaps instead of using pointcloud_to_laserscan to create a LaserScan topic. Doesn't seem to work with amcl however it wants a Pointcloud. I'm using robot_localization instead with a ukf filter using aft_mapped_to_init and the imu as inputs. In the robot model I made camera_init the parent of base_link. Robot_localization adds the map topic to complete everything. V2 performance seems to be better. I'll get it outside in a day or so and see how it works. Good Job !!!

ziv-lin commented 4 years ago

Thank for your testing~ According to your troubles, I will make the "/camera_init" as a configurable parameter in our future update.