ethzasl_icp_mapping not moving forward while registering.

asked 2013-10-20 23:34:51 -0500

maverick01 gravatar image

updated 2014-01-28 17:18:18 -0500

ngrennan gravatar image

Initially map moves forward a little bit but after that it just keep on adding points standing still at the same place. Is there problem with the launch file? I am using velodyne-32-E and configuration file from artor.

this is the launch file I am using:

<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_driver">
    <param name="model" value="32E"/>
    <param name="pcap" value="/home/administrator/Desktop/data/tunnel.pcap"/>
    <param name="read_once" value="true"/>
    <param name="frame_id" value="velodyne"/>

<node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
    <param name="calibration" value="$(find velodyne_pointcloud)/params/32db.yaml"/>
    <param name="min_range" value="3.0"/>
    <param name="max_range" value="130.0"/>

<node name="mapper" type="mapper" pkg="ethzasl_icp_mapper" output="screen" >
    <remap from="cloud_in" to="/velodyne_points" />
    <param name="subscribe_scan" value="false"/>
    <param name="subscribe_cloud" value="true"/>
    <param name="icpConfig" value="$(find ethzasl_icp_mapper)/launch/artor/icp.yaml" />
    <param name="inputFiltersConfig" value="$(find ethzasl_icp_mapper)/launch/artor/input_filters.yaml" />
    <param name="mapPostFiltersConfig" value="$(find ethzasl_icp_mapper)/launch/artor/map_post_filters.yaml" />
    <param name="odom_frame" value="/velodyne" />
    <param name="map_frame" value="/map" />
    <param name="useROSLogger" value="true" />
    <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" /> 

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same problem here with a 2d laser on a pioneer robot.

Matias gravatar image Matias  ( 2014-12-19 09:00:05 -0500 )edit

Did someone solve this issue?

efi gravatar image efi  ( 2016-02-26 01:02:19 -0500 )edit