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mrpt-ros-pkg / mrpt_slam

ROS wrappers for SLAM algorithms in MRPT
http://wiki.ros.org/mrpt_slam
BSD 3-Clause "New" or "Revised" License
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Problem when using MRPT-EKF SLAM with real robot and getting odom->base_link #53

Open tiberium24 opened 5 years ago

tiberium24 commented 5 years ago

Hello,

I am struggling to make the 3D ekf slam package work. When i use it with the base_link to odom coming from the robot, i am getting messages of could not get transform from map to odom. Then i try to fix it with another solution proposed by another closed topic in this repository but then there are again tf errors. Also, messages like this are coming sometimes:

receiving transform from [/ekf_localization] that differed from ROS time by 10.18442154s receiving transform from [/mrpt_ekf_slam_2d] that differed from ROS time by -1548279647.9s

What is the state of the MRPT_3D_EKF_SLAM at the moment? I dont believe it is ready to implement on actual odom to base_link messages coming from the robot.

Could you let me know soon? Thank you

jlblancoc commented 5 years ago

Hi!

I have just too fires to attend these weeks and can't look at this immediately.... perhaps @Logrus can give you an insight into that error? He made it to work... time ago.

Cheers

Logrus commented 5 years ago

@tiberium24 , @jlblancoc, Thanks for heads up! I'll have a look asap.

Logrus commented 5 years ago

@tiberium24, unfortunately I won't be able to offer a quick answer since I didn't look at mrpt for quite a bit and as it seems I don't have a correct environment at the moment. I will need to fix that first before I will be able to look into the problem, sorry. In my view mrpt packages that I wrote a while ago wouldn't mind a bit of refactoring and I hope I will have a bit of time for that. However, any effort from the community is of course welcome, so feel free to go ahead and change the code. Since you are currently working with mrpt, that'd probably be faster anyways.