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jkk-research / urban_road_filter

Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗
BSD 3-Clause "New" or "Revised" License
279 stars 76 forks source link

Questions about fixed frames #19

Closed Luwang012 closed 1 year ago

Luwang012 commented 1 year ago

hello,i encountered some issues while running the code.when i try to use the rslidar and change the fixed frame in the LidarFilter.cfg,but i find that it dosen't work normal although i recompile the code.Is this code only applicable to the velydone or ouster?Can u give me something suggestion?thank u.

horverno commented 1 year ago

hello @Luwang012 don't change it in the LidarFilters.cfg, its just a config for rqt_reconfigure. Use a launch file similar to this:

<launch>
    <node name="rqt_conf_gui" pkg="rqt_reconfigure" type="rqt_reconfigure" output="screen"/>
    <node name="rviz_config" pkg="rviz" type="rviz"  args="-d $(find urban_road_filter)/config/demo1.rviz" output="screen"/>
    <group ns="urban_road_filter">
        <node name="urban_road_filt" pkg="urban_road_filter" type="lidar_road" output="screen">
            <param name="topic_name" value="/rslidar/or_other_lidar/points"/>
            <param name="fixed_frame" value="rslidar/or_other_lidar_frame"/>
        </node>
    </group>
</launch>

Change the rslidar/or_other_lidar of course.

Luwang012 commented 1 year ago

Thank you for your answer！