Using LOAM to generate Octomap frame_id issue

asked 2018-07-19 10:48:07 -0600

Bruno_S gravatar image

Hi, I am using LOAM SLAM algorithm to provide tf to octomap_server. Although, if I use the map frame_id as suggested it doesn't publish any message. My current launch file is:

<launch> <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">

    <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
       <param name="frame_id" value="camera_init" />
    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="130.0" />
           <param name="latch" value="false" />
       <param name="filter_speckles" value="true" />
        <param name="pointcloud_min_z" value="-0.6" />
    <param name="pointcloud_max_z" value="0.5" />
       <param name="occupancy_min_z" value="-0.5" />
        <param name="occupancy_max_z" value="2.5" />
      <!-- data source to integrate (PointCloud2) -->
<remap from="cloud_in" to="/velodyne_cloud_registered" />
  </node>

</launch>

Can anyone help me? Thanks, Bruno

edit retag flag offensive close merge delete