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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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Fix laser orientation problem #31

Closed cosmicog closed 3 years ago

cosmicog commented 3 years ago

It is the robot's owner's responsibility to enter laser orientation correctly in the urdf.

I understand that this parts were taken from slam_gmapping but there's no need for these checks since tf already has everything needed.

I tried running loc2d_ros node on my robot which has its laser mounted downwards. It updated robot's position towards wrong direction when the robot was turning around. So I fixed the code.

After that, I tried with another robot which has a normal laser mounted upwards. This way it works on both without any configuration or checks.

Also, just a reminder, your Noetic package (ros-noetic-iris-lama-ros) doesn't work. But the master branch (with this commit) works ok.

eupedrosa commented 3 years ago

Thank you for your contribution. And you are correct, It is the robot's owner's responsibility to enter laser orientation correctly in the urdf.

When you say that the Noetic package doesn't work, are you refering to the orientation issue? Or the complete package?

cosmicog commented 3 years ago

...are you refering to the orientation issue? Or the complete package?

Whole package. I wrote a launch file following the parameters in the constructor function an it didn't print anything when I started the node.