-
Notifications
You must be signed in to change notification settings - Fork 1.3k
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Rooftop rosbag not working in ROS2 #481
Comments
the problem is your tf tree. In Rviz, for seen the map, it show the tf "map". But here your frame map isn't active/powered. for the active this map, you must to create a tf transform dynamic with the tf odom and the tf base_link (tf of your robot). Like that, your tf map will be active. Because actually, the point of your robot isn't send at your tf map, so the map don't create cause she not receives points. |
@Spirquel : Thanks for the reply. However I am still a bit confused here. The |
Hi, have you resolve this? I have exact same problem as you. My mapped trajectory is shown, but there's no concatenated points. I wonder if this problem happens related to ros2 bag |
Okay, so your bag isn't a problem. The problem is the connection with the slam. Can you use "rqt_graph" when your launch your bag and your slam (it's for show all connections in the ros system). And send with that your tf_tree (with "ros2 run tf2_tools view_frames" or "ros2 run rqt_tf-tree rqt_tf_tree (it's like rqt_graph but for frames)). Also, you have nothing msg by your slam ? like a problem with odom frame or with the time ? |
I have resolved the issue. It's due to the missing ring number that imageProjection.cpp was not working. Please refer to #452 . Both KITTI and KITTI360 dataset are missing ring number so it needs to be calculated manually. But some niche threshold needs further tuning as well, might as well refer to # #https://blog.csdn.net/qq_39607707/article/details/124758082?spm=1001.2101.3001.6650.3&utm_medium=distribute.pc_relevant.none-task-blog-2 |
Hi, I am in ROS2 humble, ubuntu 22.04
I have downloaded the rooftop_ouster_dataset.bag from here. Then I used rosbags to convert ROS1 bag to ROS2 bag. My params file is as follows (only the ones I changed)
I have used a static transform publisher to link
lidar_link
toos_lidar
as this is the frame id of the/points_raw
.ros2 bag play my_bagfile
ros2 launch lio_sam run.launch.py
My tf tree
There's nothing shown in Rviz
Any pointers to where am I going wrong? Thanks in advance
The text was updated successfully, but these errors were encountered: