can't visualize lego rom slam with vleodyne

asked 2021-07-15 11:15:16 -0600

jjb1220 gravatar image

updated 2021-07-15 11:24:13 -0600

hello, I am a newbie to ROS. I currently have a 9DOF axis IMU sensor and a lidar sensor from a velodyne 32C model. I used the logo-loam slam with reference to this site.

As a result, the point cloud is not visualized and the frames representing the axes keep moving away.

Please let me know if I've missed anything, thanks

First is rqt-graph

-1

-2

ros_graph


Second is the topic of imu sensor.

echo imu topic


The third is the vlp 32C data topic.

Confirmed point cloud visualization with Velodyne.(without slam)

vlp data topic

Visualization results through lego-loam slam, IMU, and Velodyne sensor

The frame gradually moves away as shown in the picture below.

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rviz display

image

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Comments

1

Please check the static frame used for visualization. Is the robot moving, payload sensor (pointcloud) which you are trying to visualize? Please share tf. You may run 'rosrun tf view_frames' and share frames.pdf

prince gravatar image prince  ( 2021-07-15 23:05:27 -0600 )edit

thank you for comment, this is my view frames

frames

jjb1220 gravatar image jjb1220  ( 2021-07-16 01:20:21 -0600 )edit