Loop closure module does not work after some frames

wh200720041 / iscloam

Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020

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Loop closure module does not work after some frames #28

Closed crepuscularlight closed 2 years ago

crepuscularlight commented 2 years ago

Thanks a lot for this amazing work. But after some seconds, the iscloam_result can not be displayed in rviz. The info is like "No transform between frames world and odom_final available after 1317354879.400485 seconds of waiting".

crepuscularlight commented 2 years ago

I have solved this problem. This issue is caused by the version of GTSAM. After updating to the latest one, it works very smoothly.