Run ct_icp on Darpa tunnel circuit datasets

[Cristian-wp]

Hi, I have manage to make the slam work on Darpa urban datasets, now I am trying to test it in the tunnel ciruits. As you links say, them al compressed, so I decompress all of them with rosbag decompress file.bag . I have correctly remap the pointcloud topic, lidar model and frequency are the same and at the moment I have not change anything inside the param yaml file. When I launch the simulation the simulation starts, but the odometry topic /ct_icp/pose/odom is not published. As you can see from the following images, also the tf from odom to base_link is not generated.

This image are the TF from the urban datasets:

This one are the TF from the tunnel:

This one is a screenshot from RViz after some seconds: as you can see the position frame are not published even if the robot is already inside the tunnel (the robot stars outside the tunnel)

This one are the topic from rqt:

What I am doing wrong? Can someone please help me?

[pdell-kitware]

Hi,

I will look into it,

In the mean time, do you have some error message in the terminal ?

[Cristian-wp]

Hi, Thank you! No, in the terminal I have some warning at the launch. But I have read in some post that they are normal. I use this bag: https://bitbucket.org/subtchallenge/subt_reference_datasets/src/master/ https://subt-data.s3.amazonaws.com/SubT_Tunnel_Ckt/sr_B_route2.bag (16.3 GB)