Comments (10)
你是指没有在建图? 可以的话 截个图/录个屏
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感谢您的回复,好像是有里程计数据的,但是"/ndt_map"这个话题好像输出的是雷达的原始数据,不是建图的结果,我是在自己的电脑上编译的。
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奥,里程计数据有的话 你看一下config file,这里应该是-1,不过我记得rviz无论如何都会显示才对...
方便的话 你录个视频 开头看一下launch和config,然后launch一下 我看一下终端输出和rviz?
debug_print: true # will republish point with current timestamp
# setting -1 mean it will output the whole ndt map ===> FOR THE WHOLE MAP
# setting 10 mean 10*frame_point_num will be saved ===> FOR FAST LOC
save_frame_point: -1
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4262.mp4
您好,这是我用VLP16激光雷达录制的bag包测试的结果。
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Ha, 我知道了 因为效率原因 我没有把全部的ndt_map pub出来【影响实时性】
你直接打开 这个repo下的rviz文件就能看到了:https://github.com/Kin-Zhang/simple_ndt_slam/blob/master/lidar_localizer/rviz/ndt_mapping.rviz
或者是delay time 设到很大很大 也ok
具体可以在launch file里加:
<node type="rviz" name="rviz_mapper" pkg="rviz" args="-d $(find lidar_localizer)/rviz/ndt_mapping.rviz" />
当然这些都不影响你 直接保存全局地图,不过看rviz实时运行总是好的 免得定位计算飘了
rosservice call /save_map '/home/kin/bags/autoware/all_topics/cones_people.pcd' 0.1
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哦哦,非常感谢大佬的解答,我看rviz的配置已经写进了launch文件中,但是在运行launch文件时,rviz会显示一下,然后立即闪退,所以我才新开了一个rviz的窗口。不知道rviz闪退是这个问题。
4623.mp4
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从错误信息中没看到rviz的闪退原因,猜测是memory的问题?你可以打开htop一起看一下
保存出错是bags文件夹不存在【手动建一个文件夹】,我fix一下 之前代码忘记写这个判断如果不存在 就新建一下
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https://user-images.githubusercontent.com/57590483/234784893-b9eb9e57-3f06-4ade-bb84-d2e6fb5ced11.mp4
您好,这是录制的闪退情况,这个rviz闪退是间断发生的,有时候是正常的。现在点云地图可以正常保存,谢谢。还有就是在rviz中实时显示建图结果要在哪里进行修改呢?
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好的,非常感谢!
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Related Issues (8)
- rosbag 文件没有 HOT 5
- 开学前几个疑问 HOT 4
- Dynamic Object Removal HOT 1
- hi HOT 3
- livox mid 360 HOT 4
- About the rosbag topic needed HOT 4
- not find ndt_mapping_livox.yaml HOT 2
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