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wh200720041 / ssl_slam

SSL_SLAM: Lightweight 3-D Localization and Mapping for Solid-State LiDAR IEEE RA-L 2021
GNU General Public License v3.0
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Fixed Frame [map] does not exist #1

Closed zainmehdi closed 4 years ago

zainmehdi commented 4 years ago

Hi, thanks for this awesome package. When I try to run your launch file I am getting the above mentioned error and no mapping. Should I publish a static transform from base link to L515_link ? Thanks

wh200720041 commented 4 years ago

Hi @zainmehdi

May I know which launch you use?

Han

zainmehdi commented 4 years ago

Thanks for the reply. I used floam_ssl_L515.launch. I am using real L515 camera not the rosbag.

zainmehdi commented 4 years ago

Sorry for the inconvenience I got it running. There was some issue in the topic mapping from my end. Thanks alot.

zainmehdi commented 4 years ago

Hi @wh200720041 , I was wondering if your approach could be used for calculating odometry as a hand held device. I tried it and because the motion was not constrained to 2D plane the node crashed often. Can you please provide some insight ?

wh200720041 commented 4 years ago

Hi @zainmehdi The hand held device is supposed to work on 3D space right?

If you want to use on 2d plane, I think just force the output of roll, pitch, and z to be zero will do

zainmehdi commented 4 years ago

Thanks for the response. I meant that I want to use it as a handheld device. I tried it with L515 and the pose kept jumping alot. My aim is just the odometry no mapping. I tried different available odometry algorithms and thought yours might work well. It does when placed on a mobile robot but when the user is walking it seems to break down.

wh200720041 commented 4 years ago

Hi @zainmehdi

I think if use for handheld use the angular speed can be high sometimes. Since the FoV of L515 is small, it may lose track on the feature points and cause localization failure. Perhaps you can use gimbal like DJI osmo.

Han