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wh200720041 / iscloam

Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020
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How to view the whole map in rviz #7

Open narutojxl opened 3 years ago

narutojxl commented 3 years ago

Hi @wh200720041, thanks for your work! I have a vlp-16 bag data to run the demo. The topic map published by iscloam_laser_mapping_node is not the whole map, right? How to see the whole map in rviz, thanks a lot!

wh200720041 commented 3 years ago

Hi @narutojxl, the /map topic is the global map. You may check with rosrun rqt_graph rqt_graph. The laser mapping node is the final node to construct the optimized global map.

narutojxl commented 3 years ago

Yes, but in rviz, the map is like this: 2020-07-13 17-35-54屏幕截图 I have no idea about this. BTW, I have modified <param name="scan_line" value="16" /> of iscloam_mapping.launch. There is a big delay, when pausing the played rosbag data.

wh200720041 commented 3 years ago

@narutojxl for the small map it may happen. This is because the parameters I set is for large scale map. E.g., the resolution of the map. This may cause error mapping in your case. You may want to try another SLAM FLOAM under my project list https://github.com/wh200720041/floam.git for a quick test I provided the velodyne VLP-16 version in FLOAM which has been tested on my local VLP-16. For ISC-LOAM, I need to test on my local robot first, because I also need to change the parameters for intensity scan context. The VLP-16 version will be updated as soon as I finish the test.

narutojxl commented 3 years ago

@wh200720041, thanks very much, look forward to your ISC-LOAM test on vlp-16.

ldjcrs commented 2 years ago

Hi @narutojxl, I have the same question as you, can you get the entire map?