Comments (1)
bigsuperZZZX
commented on July 17, 2024
3
That happens because the mapping module considers the pointcloud to be in the world frame, but obviously not.
The code is in this line:
where the points from the pointcloud is adopted without any translation or rotation.
Therefore, you should add this transformation by yourself using the received odometry message.
Just left multiply "p3d" with a transformation matrix from the latest odometry message will fix this problem, just like what we have done in this line: .
from ego-planner-swarm.
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