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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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Laser has to be mounted planar! Z-coordinate has to be 1 or -1 #17

Open atinfinity opened 3 years ago

atinfinity commented 3 years ago

I tried to use loc2d_ros(dashing-devel) with TurtleBot3(Gazebo).
https://github.com/atinfinity/turtlebot3_lama_ros2

$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
$ ros2 launch turtlebot3_lama_navigation turtlebot3_lama_navigation.py

But, the following message was displayed.

[loc2d_ros-1] [WARN] [iris_lama_ros2.loc2d_ros]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: 1.12200

And, I found the following comment.
https://github.com/iris-ua/iris_lama_ros/blob/dashing-devel/start.sh#L32-L34

TB3 doesnt have a planar sensor, so you need to uncomment line 336 of loc2d_ros.cpp and rebuild

So, I uncomment this line. As a result, it works fine.