ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Hi, I have used ethzasl_icp_mapping with tilting laser-scanner. But I have not worked with velodyne. Do the velodyne nodes you are launching provide a tf from the "/sensor_frame" to "/odom" frame?

In your case "/odom" frame and "/sensor_frame" are both velodyne.

The node ethzasl_icp_mapping requires the transform "/sensor_frame" to "/odom" frame.

It basically requires some initial guesses for odometry. The package provides uses this guesses and provides corrected odometry using ICP as far as I know.