Revision history [back]

Ok I'll try to show how I got it to work and what issues I've encountered that need tome looking into:

So to have it working, you first start and get inside the ade:

cd ~/adehome/AutowareAuto source .aderc-amd64-foxy-lgsvl-nvidia ade start ade enter /opt/lgsvl/simulator &

Then start the visualization to see at least the frames and lasers.

Then you have to execute this launch ( which is a modification of the existing one that was missing the node of adapter_launch which is the one that makes accessible the raw front lidar, otherwise, this doesn't work, because the mapper doesn't receive any data, and does nothing ( no error either). I also commented on the odom o baselink static transform becuase as far as I see, serves NO purose, because mapper already does map to baselink.

GIST to ndt_mapper_v2.launch.py we launch it with the command:

> ade enter 
> cd ~/AutowareAuto 
> colcon build --packages-select ndt_mapping_nodes 
> source install/setup.bash 
> ros2 launch ndt_mapping_nodes ndt_mapper_v2.launch.py

You should now move the car in the simulation and when you finish you should end up with a PCD file once you CTRL+C.

Here you have a video demo of the process:

VIDEO DEMO

So issues I've seen:

1. As far as I see, there is nothing that allows you to see live the ma generation nor if your car gets lost, and therefore makes a complete mess in the map creation.