Produced map doesnt match with the Laserscan

[pfedom]

Hi, I just started using lama. I am trying to use the particle filter SLAM on Ros2 eloquent (Ubuntu 18.04). My Laser is mounted upside down on the robot and there is a static transform that is taking care of this. But Lama is producing a map, that is flipped back around and I have no idea where this is coming from. I attach a picture, where you can see my laserscan and the map that is produced shown in rviz. It doesnt match. The static tf should be correct. I proved it with slam_toolbox and it worked fine. The static tf that is flipping 180° is from base_scan -> base_link.

Any idea how I could fix this? Thanks in advance!

[eupedrosa]

Hi @pfedom,

I am aware of this problem. This was fixed with 594b91957ff12dcb0c3bf46fbee7023865da9c12. But this is yet to be merged with the ROS2 port.

I will try to fix this as soon as possible.

[eupedrosa]

Hi @pfedom. Commit a1d7f699f61da9a14045a9adbf1c83a30465bba3 fixes the problem (I hope). Can you please update you code and verify this works for you?

[pfedom]

It's not working. Still the same bug. But I see you only updated the slam2d files. I am using the particle filter slam (pf_slam2d). Or do these files take effect on the particle slam too?

The "normal" slam2d isnt working for me. The map frame is not being published. The pf_slam2d works (except for the flipping error). Both spam this info, but I think thats not an issue: [INFO] [iris_lama_ros2.pf_slam2d_ros]: Message Filter dropping message: frame 'base_scan' at time 1596102489.100 for reason 'Unknown'

Should I put up another issue for this problem or do we discuss this here too?

[eupedrosa]

I forgot to change in pf_slam2d. Please try the update.

The "normal" slam2d isnt working for me. The map frame is not being published. The pf_slam2d works (except for the flipping error).

It was supposed to work if it work for pf_slam2d.

[pfedom]

pf_slam2d works now as expected. Thank you!