Ok I'll try to show how I got it to work and what issues I've encountered that need tome looking into:
So to have it working, you first start and get inside the ade:
cd ~/adehome/AutowareAuto
source .aderc-amd64-foxy-lgsvl-nvidia
ade start
ade enter
/opt/lgsvl/simulator &
Then start the visualization to see at least the frames and lasers.
Then you have to execute this launch ( which is a modification of the existing one that was missing the node of adapter_launch which is the one that makes accessible the raw front lidar, otherwise, this doesn't work, because the mapper doesn't receive any data, and does nothing ( no error either).
I also commented on the odom o baselink static transform becuase as far as I see, serves NO purose, because mapper already does map to baselink.
GIST to ndt_mapper_v2.launch.py
we launch it with the command:
> ade enter
> cd ~/AutowareAuto
> colcon build --packages-select ndt_mapping_nodes
> source install/setup.bash
> ros2 launch ndt_mapping_nodes ndt_mapper_v2.launch.py
You should now move the car in the simulation and when you finish you should end up with a PCD file once you CTRL+C.
Here you have a video demo of the process:
VIDEO DEMO
So issues I've seen:
- As far as I see, there is nothing
that allows you to see live the ma
generation nor if your car gets
lost, and therefore makes a complete
mess in the map creation.
