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rsasaki0109 / lidarslam_ros2

ROS 2 package of 3D lidar slam using ndt/gicp registration and pose-optimization
BSD 2-Clause "Simplified" License
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Nothing visualizing #93

Open yoepav opened 3 months ago

yoepav commented 3 months ago

Hello,

I captured a rosbag of my environment with /tf and the /input_cloud. When running the rosbag nothing gets visualised in the LiDAR tool. When I change the /map topic to the /input_cloud topic I can see that the pointcloud map is being made but everything stays around the origin. Am I missing some steps to make it work?

Kind regards

rsasaki0109 commented 3 months ago

Could you show me the launch file and YAML file? Also, is the environment indoor or outdoor?

yoepav commented 3 months ago

Hello Sasaki,

The launch file and YAML are the same as on the github, I didn't change anything within them. The environment is a digital twin of an outdoor environment.

rsasaki0109 commented 3 months ago

The current configuration subscribes to ‘velodyne_points’, so the scan might not be subscribed to. You can check the connection using ‘ros2 node info’ or ‘ros2 topic info -v’.

https://github.com/rsasaki0109/lidarslam_ros2/blob/develop/lidarslam/launch/lidarslam.launch.py#L28

yoepav commented 3 months ago

There is no issue there anymore. I did capture the rosbag with use_sim_time = true, and it seems an issue arises there.