Graph SLAM의 모든것 (Korean)
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자칼의 xyz가 기존의 로봇들과 좀 다름!!! 거꾸로 가는듯한 느낌이 있음
rosbag play A4.bag --clockrosparam set use_sim_time true위의 두 명령어는 ros 상의 시간을 rosbag 기준으로 맞춰준다.
roslaunch /home/shapelim/catkin_ws/src/ouster_example-master/ouster_ros/os1.launch replay:=truereplay:=true bag 파일의 패킷을 풀 때 필요함!
leaf size is too small!!
-> 0.2 이상으로 키우면 된다.
icp: target의 관점에서 source를 바라볼 때의 tf가 계산됨!
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