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rsasaki0109 / li_slam_ros2

ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam
BSD 2-Clause "Simplified" License
316 stars 42 forks source link

is the git command in readme correct ? #3

Closed jediofgever closed 3 years ago

jediofgever commented 3 years ago

Hi , I was trying out this package but there is some issue I guess. Inn readme you never mention a git command to clone this repo but instead another repo(again your repo), is this intentional ?

Could you please check and confirm ? Thanks for the awesome work ,

rsasaki0109 commented 3 years ago

My mistake. Thank you for pointing it out.

jediofgever commented 3 years ago

No worries, awesome work already. I am trying to test it in simulation, have had a chance to test this under Gazebo or any other simulation env. ?

rsasaki0109 commented 3 years ago

Unfortunately, I don't have a good enough PC to simulate lidar, so I haven't tried it.

jediofgever commented 3 years ago

I actually tried it , but since I am using navigation, there is quite a lot of message topic conflict. I solved some of them but I cant achieve the mapping. The map is constantly shifting.

I am not sure what I am doing wrong here but I guess this could be related to wrong odometry ? , Do you have any suggestions ?

Screenshot from 2020-12-16 21-00-46

rsasaki0109 commented 3 years ago

Check if self-positioning can be estimated by mapping using only Lidar.

jediofgever commented 3 years ago

unfortunately with perfectly fine simulated lidar data I cant create maps, will you be willing to try on your system if I share the bag file with you ? I think the main reason was ndt resolution parameter. I increased that then I started to build some nice maps