Comments (16)
this is git result
from lidar_localization_ros2.
Is map_path set correctly? Please check it in the terminal output.
map_path: "/home/sasaki/github_ws/ros2_ws/src/pcl_localization_ros2/map/bin_tc-2017-10-15--ndmap.pcd"
https://github.com/rsasaki0109/pcl_localization_ros2/blob/main/param/localization.yaml#L12
RCLCPP_INFO(get_logger(),"map_path: %s", map_path_.c_str());
https://github.com/rsasaki0109/pcl_localization_ros2/blob/main/src/pcl_localization_component.cpp#L178
from lidar_localization_ros2.
what's your perception_pcl library?
https://github.com/ros-perception/perception_pcl <- is that??
Yes, this package is using pcl_conversions from perception_pcl.
from lidar_localization_ros2.
https://github.com/rsasaki0109/lidarslam_ros2
i make pcd map using above git. And data is hdl_400.bag
But my result is bad.
i use parameter under!
is there any wrong?
/**:
ros__parameters:
registration_method: "NDT"
ndt_resolution: 3.0
ndt_step_size: 0.1
transform_epsilon: 0.01
voxel_leaf_size: 1.0
scan_max_range: 100.0
scan_min_range: 1.0
scan_period: 0.1
use_pcd_map: true
map_path: "/home/tazel7885/ros2_ws/src/pcl_localization_ros2/map/map.pcd"
set_initial_pose: true
initial_pose_x: 0.0
initial_pose_y: 0.0
initial_pose_z: 0.0
initial_pose_qx: 0.0
initial_pose_qy: 0.0
initial_pose_qz: 0.0
initial_pose_qw: 1.0
use_odom: false
use_imu: true
enable_debug: true
from lidar_localization_ros2.
from lidar_localization_ros2.
my result
from lidar_localization_ros2.
I'll check.
from lidar_localization_ros2.
use_imu
should be false
for once.
ndt_resolution
and voxel_leaf_size
may be too large. Could you try with the following parameter set?
ndt_resolution | voxel_leaf_size | |
---|---|---|
1 | 2.0 | 1.0 |
2 | 2.0 | 0.5 |
3 | 1.0 | 0.5 |
4 | 1.0 | 0.2 |
from lidar_localization_ros2.
i test all. but result is same.
Just in case, it seems that the map data and sensor data do not match inside the code. Is there any way to check if the map has been loaded from inside the code?
from lidar_localization_ros2.
Is there any way to check if the map has been loaded from inside the code?
Currently, there is no such function, but you can have the message output at the following
from lidar_localization_ros2.
It was confirmed that localization is possible with the following parameters
/**:
ros__parameters:
registration_method: "GICP"
ndt_resolution: 1.0
ndt_step_size: 0.1
transform_epsilon: 0.01
voxel_leaf_size: 0.5
scan_max_range: 100.0
scan_min_range: 1.0
scan_period: 0.1
use_pcd_map: true
map_path: "/home/map4/Downloads/hdl_data/map.pcd"
set_initial_pose: true
initial_pose_x: 0.0
initial_pose_y: 0.0
initial_pose_z: 0.0
initial_pose_qx: 0.0
initial_pose_qy: 0.0
initial_pose_qz: 0.0
initial_pose_qw: 1.0
use_odom: false
use_imu: false
enable_debug: true
from lidar_localization_ros2.
Thanks!
I have some questions!
If I want to add odom information, can I add it in m units?
Have you ever turned the above algorithm into a camera point cloud?
from lidar_localization_ros2.
Odometry information needs to be input in meters according to the ROS specifications.
I have never used an input point cloud from a camera.
from lidar_localization_ros2.
Will it be a problem when using the camera's point cloud?
from lidar_localization_ros2.
I think you need to do a better job of parameter tuning because the accuracy of the scan point cloud is poor and the FoV is small with cameras compared to LiDAR.
from lidar_localization_ros2.
The issue regarding the title seems to have been resolved, so we will be closing this matter. If you have any further concerns, please feel free to open a new issue.
from lidar_localization_ros2.
Related Issues (20)
- Pose with Covariance? HOT 2
- is adjustDistortion very important for localization? HOT 3
- IMU Calibration HOT 5
- The link to download the bag is not working HOT 3
- Handling angular velocities HOT 3
- Cannot build in humble of 22.04 HOT 4
- pose drift largely HOT 17
- Using odom HOT 3
- cannot see the map in rviz HOT 9
- The agent cannot turn left or right durning rosbag replay HOT 2
- specifying the lidar frame id HOT 1
- Localization worser then in your lidarslam_ros2 HOT 3
- Use odom tf instead of odom topic HOT 1
- map data HOT 6
- Research Paper for this github repo HOT 2
- IMU Orientation HOT 3
- typo in parameter name HOT 1
- Is the imu data ever being used? I don't see a subscriber for it. HOT 2
- Unable to compile on Galactic HOT 7
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from lidar_localization_ros2.