Hey!

I'm using the scan_matcher and just found your fork. Could you maybe add something in the ReadMe regarding the bugs you fixed? In which cases does your version behave different?

Hi @nkuwenjian ,

currently, I don't have IMU mounted on my robot. I can create the map, but is a little bit distorted. Does laser-scan-matcher need an IMU sensor?
If yes, where can I find the code segment of the IMU sensor fusion?

Hi @nkuwenjian ,

I have another questions. The function scanCallback() is the start entry of the scan processing if a lidar measurements coming. It contains three important steps : getLaser(), processScan(), and updateMap().

There is no documentation in both repositories from scan_tools and open_karto. Thus, I would like to ask how can I get the measurement points at the map frame?

Furthermore, since the function int value = occ_grid->GetValue(Vector2<int>(x, y)); is index-based. If I have a point (x,y) from the map frame in meter, how can I get the value at the occupancy gridmap?

Thanks

Hi @nkuwenjian ,

I found your repository, and thank you for your work simplifying the laser scan matching libs in one repository.
I tested with my bagfile, and it works very good. However, if I cannot work directly with the laserscanner (RPlidar).

Using this modification in the launch file, I only see one update of the occupancy grid map. The scan matcher seems not working.

<param name="/use_sim_time" value="false"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
    args="0.15 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node"
    name="laser_scan_matcher_node" output="screen">
    <param name="map_frame" value="map"/>
    <param name="base_frame" value="base_link" />
    <param name="max_iterations" value="10"/>
    <param name="do_compute_covariance" value="1"/>
  </node>

Could you give me a hint how to see the real time scan matching by integrating the /scan topic directly?

From the visualization of the nodes, topics and the TF tree, these are the differences:

Offline with bagfile:

Online with the laserscan: