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penguinmenac3 / ros_graph_slam

A ros graph slam backend using gtsam python.
GNU Lesser General Public License v3.0
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How can I test the result #2

Open LZMHIT opened 5 years ago

LZMHIT commented 5 years ago

Dear author, You have done an amazing research, but I don't know how to make it run, dose the launch file in this package need some dataset?

penguinmenac3 commented 5 years ago

Firstly, I am sorry that the answer took so long.

You need a robot which has a laserscanner, odometry and imu.

Inspecting live.launch and the rqt_graph I found the following. The topics that are consumed are:

laserscan
laserscan_filtered
odom
imu/data
between_factor   # optional if you want loop closure
gps  # optional if you want global localization

The transforms required are:

<param name="fixed_frame" value="odom" />
<param name="base_frame" value="base_link" />

A good idea is to start the launchfile and inspect the rosgraph by using rqt_graph tool, do not forget to untick all the hide checkboxes. Also be sure to use other ros inspection commands like rosmsg, rostopic, etc.