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scanse / sweep-ros

Scanse Sweep ROS Driver and Node
MIT License
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Added timestamp to the header of point cloud topic #13

Closed utkarshjp7 closed 7 years ago

utkarshjp7 commented 7 years ago

The timestamp was missing from the header of the point cloud topic (/pc2). Due to this, the /scan topic was also missing the timestamp.

I tried using the sweep laser with ros navigation stack but the amcl package couldn't publish /map -> /odom transform because of the missing timestamp from the /scan topic.

sevenbitbyte commented 7 years ago

@utkarshjp7 Random question, which package are you using for map creation?

utkarshjp7 commented 7 years ago

@sevenbitbyte We did not create the map using sweep. We already had the map which was built using kinect and rtabmap (http://wiki.ros.org/rtabmap_ros). We used sweep laser as localization source, and the map built with kinect for navigation, but the localization did not work well. I think we need to create a new map with sweep for better localization.