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rsasaki0109 / lidar_localization_ros2

3D LIDAR Localization using NDT/GICP and pointcloud map in ROS 2 (Not SLAM)
BSD 2-Clause "Simplified" License
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about ros2 humble #33

Open lidarmansiwon opened 7 months ago

lidarmansiwon commented 7 months ago

hi rsasaki, I'm getting a lot of help from you while attempting to use, The part of launch file, remapping ouster/points to /cloud. because I want to use ouster. but It didn't work. it can't get point cloud. so I found code that subcribe pointcloud in pcl_localization_component.cpp. In that code, I can find "velodyne_points". so I edit launch file. change /cloud to /velodyne_points. after edit. It work. but it can't see work well. It's very inaccurate. please help me. Untitled Untitled (1) Untitled (2)

rsasaki0109 commented 7 months ago

Please tell me if the input cloud topic is set to /ouster/points when running ros2 node info /lidar_localization. Also, please describe how the terminal output looks for lidar_localization_ros2.

rsasaki0109 commented 7 months ago

Looking at your comment again, it seems that the scan matching itself is being performed, isn't it? What do you mean by 'inaccurate'? I need a bit more detailed information. If the scan matching is failing, it may be necessary to adjust the ndt_resolution and voxel_leaf_size.