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Autoware: NDT mapping just outputs zero pose

asked 2020-12-24 20:06:08 -0500

mix345 gravatar image


I am running ndt_mapping on a demo bag file (sample_moriyama_150324.bag). I am able to visualize /point_raw on rviz, but I couldn't see /ndt_map. I checked the topics related to ndt_mapping and found that the estimated transformation matrix is always zero.

Does anyone have an idea? My environment is Ubuntu18 and ROS melodic

Here are the steps to reproduce.

  1. Download the demo bag file and setup Autoware master version (followed
  2. Launch runtime_manager
  3. Play and pause .bag file
  4. In Setup tab, Launch tf of velodyne and map
  5. In Computing tab, Launch ndt_mapping
  6. Launch Rviz
  7. Cancel the pause of .bag file
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Are you trying to create a new map or localize against an existing map?

Josh Whitley gravatar image Josh Whitley  ( 2020-12-28 10:43:58 -0500 )edit

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answered 2021-03-22 08:04:58 -0500

Kin_Zhang gravatar image

I answer this question in this post or you can just use the 1.13 version of to get mapping.

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Asked: 2020-12-24 20:06:08 -0500

Seen: 199 times

Last updated: Mar 22