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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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Please help noob #95

Open IIIIllllIllI opened 1 month ago

IIIIllllIllI commented 1 month ago

I'm ros2 noob. I use ouster lidar for slam. I want to know what I have to change to use this package.

rsasaki0109 commented 1 month ago

The velodyne_points in the mapping should work if you change them to the ouster point topic and also change the frame ID of velodyne in tf to the frame ID of the ouster point topic.

https://github.com/rsasaki0109/lidarslam_ros2/blob/develop/lidarslam/launch/lidarslam.launch.py#L24-L36

IIIIllllIllI commented 3 weeks ago

Thank you for your answer. Now, I can use your package. However, I have two more questions.

  1. When I launched this package and played the bag file, I couldn't see the /modified_path and /modified_map. When I echoed the topics, no information came out. I think there might be an issue with the graph-based-slam node.

  2. I didn't change any parameters without ndt_num_threads. I changed ndt_num_threads to 4. While it works well in simple environments, it doesn't perform as expected in more complex environments. How can I adjust the parameters in this situation.

IIIIllllIllI commented 3 weeks ago

Screenshot from 2024-08-21 02-56-53 This is the result of driving with cones placed on both sides.

IIIIllllIllI commented 3 weeks ago

Screenshot from 2024-08-21 03-05-57 It is the result of driving around a building.

rsasaki0109 commented 3 weeks ago

Graph-based SLAM will not publish trajectories and maps unless a loop closure is performed or you execute "ros2 service call /map_save std_srvs/Empty". If a loop closure is not performed, please execute "ros2 service call /map_save std_srvs/Empty".

The point cloud map in the image does not seem to have any obvious problems, but what is the issue?

Generally, you need to adjust parameters such as ndt_resolution and vg_size_for_input depending on whether the environment is indoors or outdoors.

IIIIllllIllI commented 3 weeks ago

Thanks, I understand the problem.