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koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR
BSD 2-Clause "Simplified" License
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How to specify the topic and frame names? #23

Closed wiku30 closed 4 years ago

wiku30 commented 4 years ago

In the hdl_graph_slam, I can change the topic and frame IDs (to run on data from other lidars) in the launch file. But in this project, I could not see interfaces about such IDs in the launch file.

So how to change the IDs?

koide3 commented 4 years ago

Hi @wiku30 , You can remap "/velodyne_points" and "/gpsimu_driver/imu_data" topics to use this package with your sensor.

https://github.com/koide3/hdl_localization/blob/7e1dcdd7f0c8f7b042666c2730470ab6aa0a2945/apps/hdl_localization_nodelet.cpp#L50 https://github.com/koide3/hdl_localization/blob/7e1dcdd7f0c8f7b042666c2730470ab6aa0a2945/apps/hdl_localization_nodelet.cpp#L52

Maybe this packages should have more documentation so that users can tell how they can use it without taking look at the code... I'll put more information in README.

wiku30 commented 4 years ago

Thanks!