ndt_mapping processing only the first message
Hello everyone. I am trying to generate a point cloud map using a lidar recording with ndt_mapping and I have a very weird behavior.
The process seems do do fine but the generated map seems to contain only the first message.
Here's the output map :
But it seems that it randomly works sometimes but I don't find any pattern.
Here you can find the output of ntd_output : https://pastebin.com/FC2wRwyE
Nothing is wrong for me except the number of saved points at the end.
Do you have any idea what could be the problem ? Thanks a lot !
I have recently used ndt_mapping to create a new PCD map. What is the process that you're using? What launch file? What parameters? Did you send the service call to save the PCD file? How are you feeding it the input data?
Thanks for your answer !
Here's how I proceed :
rosstart
roslaunch lidar_localizer ndt_mapping.launch
and then the arguments.rostopic pub --once /config/ndt_mapping_output autoware_config_msgs/ConfigNDTMappingOutput
and then the headerI am not using the GUI as I think it's way simpler to do it with the command line, and my CPU is going crazy because of RViz
I also want to run the mapping on the cloud later
Sorry I haven't responded recently. We are in the middle of releasing Autoware version 1.13.0 and the maintainers have been very busy. What you are doing seems correct. Do you have some form of additional data for dead-reckoning (like IMU or odometry)? Your log says you were using method 2 for NDT Mapping - have you tried method 0? All of the GPU-based methods are known to have bugs, especially on large maps.
I totally understand I am already very happy that you take some time to answer me !
No, I recorded a bag file containing only
/points_raw
as I thought ndt_mapping was only using this topic.I can try to record another bag file with IMU or odometry topics. I was also thinking about using /initialpose before playing my rosbag.
Thanks a lot for your help !
@Mackou Is it still not solved? If you can share your rosbag, I may be able to help you.
@Yamato Ando Thanks for your answer. I generated one map when it started to suddenly work but it is still totally random... Do you think it's a localization problem and that sending a pos estimate in
/initialpose
would help ? (I tried but it doesn't seem to help, playing the rosbag quickly to fill the queue appears to make it work more often though)Thanks a lot for your help, it's greatly appreciated ! :)