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Please try as follows.

  1. Play rosbag(slam_topics_2019-07-01-10-02-59.bag) and pause immediately.

  2. Execute the following command to fix header.stamp to current ros time.

    $ rosrun topic_tools relay_field /os1_cloud_node/points /points_raw sensor_msgs/PointCloud2 "header:  
     seq: m.header.seq  
     stamp: now  
     frame_id: m.header.frame_id  
     height: m.height  
    width: m.width  
    fields:  
    - {name: "x", offset: 0, datatype: 7, count: 1}  
    - {name: "y", offset: 4, datatype: 7, count: 1}  
    - {name: "z", offset: 8, datatype: 7, count: 1}  
    - {name: "intensity", offset: 16, datatype: 7, count: 1}  
    - {name: "t", offset: 20, datatype: 6, count: 1}  
    - {name: "reflectivity", offset: 24, datatype: 4, count: 1}  
    - {name: "ring", offset: 26, datatype: 2, count: 1}  
    - {name: "noise", offset: 28, datatype: 4, count: 1}  
    - {name: "range", offset: 32, datatype: 6, count: 1}  
    is_bigendian: m.is_bigendian  
    point_step: m.point_step  
    row_step: m.row_step  
    data: m.data  
    is_dense: m.is_dense"
    
  3. Set BaseLink to Localizer(params is [0.465, 0, 1.945, 3.142, 0, 0])

  4. Publish Point Cloud Map(autoware-190703-2.pcd)

  5. Publish TF(autoware/ros/src/.config/tf/tf_local.launch)

  6. Launch voxel_grid_filter(config: "Points Topic" is "/points_raw")

  7. Launch ndt_matching(config: "Initial Pos" is [-5.68, 59.18, -5.775, -0.141, 0.004, 0.703])

  8. Restart rosbag.