rsasaki0109/lidarslam_ros2

Nothing visualizing

Opened this issue · 4 comments

yoepav commented

Hello,

I captured a rosbag of my environment with /tf and the /input_cloud. When running the rosbag nothing gets visualised in the LiDAR tool. When I change the /map topic to the /input_cloud topic I can see that the pointcloud map is being made but everything stays around the origin. Am I missing some steps to make it work?

Kind regards

rsasaki0109 commented

Could you show me the launch file and YAML file? Also, is the environment indoor or outdoor?

yoepav commented

Hello Sasaki,

The launch file and YAML are the same as on the github, I didn't change anything within them. The environment is a digital twin of an outdoor environment.

rsasaki0109 commented

The current configuration subscribes to ‘velodyne_points’, so the scan might not be subscribed to. You can check the connection using ‘ros2 node info’ or ‘ros2 topic info -v’.

https://github.com/rsasaki0109/lidarslam_ros2/blob/develop/lidarslam/launch/lidarslam.launch.py#L28

yoepav commented

There is no issue there anymore. I did capture the rosbag with use_sim_time = true, and it seems an issue arises there.