Comments (7)
@Yuanmou1212 你可以尝试使用最新的liorf-ros2分支运行一下建图,看看有没有问题
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@Yuanmou1212 你可以尝试使用最新的liorf-ros2分支运行一下建图,看看有没有问题
感谢回复。好的,我尽快试一下
刚刚尝试了lio-sam的ros1 版本,同样的params.yaml 设定( 只有一个根据报错更改的地方 lidarFrame: "lidar_link" 在ROS2, lidarFrame: "base_link" 在ROS1), ROS1 都可以运行,因此怀疑LIO-SAM的ROS2是不是有BUG没修好。
请问您能大致指出liorf-ros2 修改了什么吗?
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@Yuanmou1212 你可以尝试使用最新的liorf-ros2分支运行一下建图,看看有没有问题
感谢回复。好的,我尽快试一下 刚刚尝试了lio-sam的ros1 版本,同样的params.yaml 设定( 只有一个根据报错更改的地方 lidarFrame: "lidar_link" 在ROS2, lidarFrame: "base_link" 在ROS1), ROS1 都可以运行,因此怀疑LIO-SAM的ROS2是不是有BUG没修好。 请问您能大致指出liorf-ros2 修改了什么吗?
lio-sam的ros2版本我没有试过,这个好像是网友维护的,liorf-ros2算法层面上没有做修改,只是把liorf改成了ros2的版本,目前在ros1中提到的几个数据集上测试是没有问题的
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@Yuanmou1212 你可以尝试使用最新的liorf-ros2分支运行一下建图,看看有没有问题
还得请教一下,我尝试编译liorf-ros2,但遇到cv_bridge 的问题,我的ROS2是humble版本的:
能找到pc中的cv_bridge
$ apt show ros-humble-cv-bridge
Package: ros-humble-cv-bridge
Version: 3.2.1-1jammy.20240217.061328
Priority: optional
Section: misc.....
$ dpkg -l | grep ros-humble-cv-bridge
ii ros-humble-cv-bridge 3.2.1-1jammy.20240217.061328 amd64 This contains CvBridge, which converts between ROS2 Image messages and OpenCV images.
sudo apt-get install ros-humble-cv-bridge
0 upgraded, 0 newly installed, 0 to remove and 59 not upgraded.
Cmakelists.txt文件没有修改,
find_package(cv_bridge REQUIRED), 已经存在。
opencv也有
$ pkg-config --modversion opencv4
4.5.4
/opt/ros/humble/share 中有cv_bridge 文件,
/opt/ros/humble/include 中有cv_bridge.h
重装ros-humble-cv-bridge 也尝试过了,没有解决问题。 请问该代码在您的pc上是否经历过类似问题。
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Related Issues (20)
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