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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
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Multiple lidars slam #186

Open kubs0ne opened 3 years ago

kubs0ne commented 3 years ago

Hello, I would like to create SLAM from 2 pointcloud topics. How could I do it? In my case I have 2 lidars and 2 topics which are published with a tf from lidars to base_link. I tried to use topic_tools relay to merge data from two topics to one, but it seems to ignore the tf. Any information would be appreciated.

dalianmaof commented 3 years ago

I think you could try to transform two pointcloud to same coordinates like base_link, then merge two pointcould.