ndt_mapping processing only the first message

asked 2019-10-10 04:56:14 -0500

Mackou gravatar image

updated 2019-10-10 05:05:28 -0500

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 :

image description

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 !

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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?

Maximus5684 gravatar imageMaximus5684 ( 2019-10-10 07:11:28 -0500 )edit

Thanks for your answer !

Here's how I proceed :

  • I start ROS with rosstart
  • I start ndt_mapping with the command roslaunch lidar_localizer ndt_mapping.launch and then the arguments.
  • I play the previously recorded bag file.
  • To export the map use the command rostopic pub --once /config/ndt_mapping_output autoware_config_msgs/ConfigNDTMappingOutput and then the header

I 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

Mackou gravatar imageMackou ( 2019-10-10 08:03:59 -0500 )edit