Closed uhobeike closed 2 years ago
When using rosbag and running emcl2, there is a problem with the conversion between the scan coordinate system and the map coordinate system.
I can run self-location estimation without any problem, but I cannot see the scan data in RViz.
This is a PR to solve the above.
The fix in this PR have been tested on rosbag, simulator, and actual equipment.
git clone git@github.com:rt-net/raspicat_slam_navigation.git (↑For pgm data and RViz configuration files)
roscore roslaunch emcl2 emcl2.launch initial_pose_x:=0 initial_pose_y:=0 rosrun map_server map_server raspicat_slam/config/maps/iscas_museum_map.yaml rosrun rviz rviz -d raspicat_navigation/config/rviz/move_base.rviz rosbag play 2022-11-04-19-38-54.bag
Click to download 2022-11-04-19-38-54.bag
https://user-images.githubusercontent.com/40545422/200103790-670528c8-f60b-453c-aeaf-44388974debc.mp4
https://user-images.githubusercontent.com/40545422/200103812-ddbaae63-7436-4dac-bccc-45071179ea94.mp4
Thank you very much!
ryuichiueda
commented
2 years ago ryuichiueda
commented
2 years ago
About the Issue
When using rosbag and running emcl2, there is a problem with the conversion between the scan coordinate system and the map coordinate system.
I can run self-location estimation without any problem, but I cannot see the scan data in RViz.
This is a PR to solve the above.
The fix in this PR have been tested on rosbag, simulator, and actual equipment.
How to reproduce
About Test Environment
Clone pkg
Execute command
Rosbag recorded by simulator (Google Drive)
Click to download 2022-11-04-19-38-54.bag
Before fix
https://user-images.githubusercontent.com/40545422/200103790-670528c8-f60b-453c-aeaf-44388974debc.mp4
After
https://user-images.githubusercontent.com/40545422/200103812-ddbaae63-7436-4dac-bccc-45071179ea94.mp4