how to use ethzasl_icp_mapping with velodyne?
Hi all, I am using a .pcap file to playback velodyne HDL 64E_2 data using the velodyne ros package. I would like to obtain some odometry data using the velodyne and the ethzasl_icp_mapping package seems to be a good start. I am able to register pointclouds using a kinect, but with the velodyne I have no output on /point_map. My launch file is as below. I am not using any filters or icp config file and just want to try out the package with default parameters. Is there anything wrong here?
<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_driver">
<param name="model" value="64E_S2"/>
<param name="pcap" value="/home/hope/Downloads/velodynepcap/S227_target.pcap"/>
<param name="read_once" value="false"/>
<param name="read_fast" value="false"/>
<param name="repeat_delay" value="10000.0"/>
<param name="rpm" value="200.0"/>
<param name="frame_id" value="velodyne"/>
</node>
<node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
<param name="calibration" value="$(find velodyne_pointcloud)/params/64e_utexas.yaml"/>
<param name="min_range" value="3.0"/>
<param name="max_range" value="130.0"/>
</node>
<node name="mapper" type="mapper" pkg="ethzasl_icp_mapper" output="screen" >
<remap from="cloud_in" to="/velodyne/velodyne_points" />
<param name="subscribe_scan" value="false"/>
<param name="subscribe_cloud" value="true"/>
<param name="odom_frame" value="/velodyne" />
<param name="map_frame" value="/map" />
<param name="useConstMotionModel" value="false" />
<param name="localizing" value="true" />
<param name="mapping" value="true" />
<param name="minOverlap" value="0.8" />
<param name="maxOverlapToMerge" value="0.9" />
<param name="tfRefreshPeriod" value="0.01" />
<param name="vtkFinalMapName" value="finalMap.vtk" />
<param name="useROSLogger" value="true" />
<param name="minReadingPointCount" value="1000" />
<param name="minMapPointCount" value="10000" />
<param name="inputQueueSize" value="1" />
</node>
If there are any other techniques that can do laser odometry, kindly suggest