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ori-drs / plane_seg

Plane Segmentation Utilites
BSD 3-Clause "New" or "Revised" License
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Handle point_cloud_odom to odom frame transformation. #7

Closed oliwiermelon closed 3 years ago

oliwiermelon commented 3 years ago

When the state estimator of the real robot (ANYmal C) is reset, the odom and point_cloud_odom frames will likely not coincide as shown in the video; it shows the effect of the state estimator being reset (right after the robot stood up) on the z positions of the frame (only odom moves to the bottom of the feet). Such functionality is built into other modules (e.g. elevation_mapping). Meanwhile, TerrainSimplification package assumes that the frames, before any drift, are perfectly aligned. It needs to be modified.

oliwiermelon commented 3 years ago

This has been achieved; the frame transformation is handled using tf in https://github.com/ori-drs/plane_seg/commit/a12b94c94749b00d02608ae8e7338371f88209fd.