Failed approximate-ndt-mapping with odom topic

asked 2020-06-10 04:30:24 -0500

wsung1
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updated 2020-06-12 17:13:50 -0500

We sometimes succeeded and sometimes failed to do approximate-ndt-mapping provided with Autoware (v1.13), which depends on the shape of the course we wanted to map out and etc. Instead of mapping only with the lidar topic (/points_raw), we tried to add the odom topic (/vehicle/odom) to it so we're expecting we could make it more often. However, we didn't make it as shown in this video - https://youtu.be/491T8yIHqP4. I'm wondering what I was wrong. Any piece of advice will be appreciated. Thank you :)

answered 2020-06-11 17:27:31 -0500

Josh Whitley

1766 ●4 ●72 ●24

@wsung1 Please make sure you are setting use_odom to true in the ndt_matching.launch file and you have something publishing your odometry on the topic /vehicle/odom as a sensor_msgs/Odometry message. If you need to convert sensor_msgs/TwistStamped to an (incomplete) sensor_msgs/Odometry, there is a utility package called twist2odom for this purpose.

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@wsung1 this was a typo. Should be nav_msgs/Odometry.

Josh Whitley ( 2020-06-13 14:35:42 -0500 )edit

Thanks for your reply, @Josh Whitley. As can be seen in the video, the odom topic /vehicle/odom has a rosmsg type of nav_msgs/Odometry. Should it be sensor_msgs/Odometry? I couldn't find a rosmsg by that name, though.

wsung1 ( 2020-06-13 17:58:10 -0500 )edit

@Josh Whitley, I'm wondering why small submap files (hundreds kB) are spawned when starting approximate-ndt-mapping with setting use_odom to true. Do you have any idea about that?

wsung1 ( 2020-06-13 18:03:38 -0500 )edit

This is a separate question and should be started in a new Question on ROS Answers. Were you able to get NDT to accept the /vehicle/odom topic?

Josh Whitley ( 2020-06-16 13:46:35 -0500 )edit

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