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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
1.98k stars 726 forks source link

Can I use this with an Ouster OS1-32 LiDAR #243

Open Frndznz opened 2 years ago

Frndznz commented 2 years ago

I've been using your repo with a Velodyne VLP-16 and it works perfectly fine. However, when I try to use it with an Ouster LiDAR, I get an error of there being no transformation from the base_link to the map frame. Is this caused by the velodyne_nodelet_manager?

JaredRosenbaum commented 1 year ago

Hello, I've been trying the same thing and getting the same error. Did you ever find a solution?

koide3 commented 1 year ago

You may need to properly set TF tree by, e.g., changing the following line.

https://github.com/koide3/hdl_graph_slam/blob/cb7af42f3c358925b15f05d0d54979b047e39411/launch/hdl_graph_slam.launch#L31

mohamedsaeed21 commented 1 year ago

Is this the only modification that needs to be made? I still cant make it work as well with the same sensor, If anybody succeeded can you please share the launch file?