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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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Failure on updating map with loc2d_ros #30

Closed lantica closed 3 years ago

lantica commented 3 years ago

I am loofing at loc2d_ros for replacing the amcl node. It works quite well even with the default params. However, the localisation will fail if I publish a new map to the map topic. Any idea?

The ros version using is Noetic. The params using are as below:

                    global_frame_id: "map",
                    odom_frame_id: "odom",
                    base_frame_id: "base_link",
                    scan_topic: scanTopic,
                    d_thresh: 0.1,
                    a_thresh: 0.2,
                    l2_max: 0.5,
                    strategy: "gn",
                    use_map_topic: true,
                    first_map_only: true,
                    use_pose_on_new_map: false,
                    force_update_on_initial_pose: false,

I can send you the rosbag file if needed.

eupedrosa commented 3 years ago

Can you share the rosbag? I will take a look into it.

lantica commented 3 years ago

I found I made a stupid mistake. It works after I set first_map_only to false. I will close the issue.

eupedrosa commented 3 years ago

It is not a stupid mistake, it is a learning mistake.