Comments (9)
Hi @Srichitra-S -- DLO is an odometry algorithm and generates both pose (6DOF) and map, which is represented by a set of keyed scans throughout the environment. The algorithm currently doesn't support pure localization on a provided map, but this should be pretty straightforward to implement for those who are interested. Note that depending on the map size and complexity, an initial pose may be required. See my comment here for more information: #11
from direct_lidar_odometry.
Hi @Srichitra-S -- DLO is an odometry algorithm and generates both pose (6DOF) and map, which is represented by a set of keyed scans throughout the environment. The algorithm currently doesn't support pure localization on a provided map, but this should be pretty straightforward to implement for those who are interested. Note that depending on the map size and complexity, an initial pose may be required. See my comment here for more information: #11
Hi, thank you for your great work. Does DLO have a map saving function, such as saving in pcd format?
from direct_lidar_odometry.
Hi @JACKLiuDay --
We've added a new service to save DLO's generated map into a .pcd
in v1.4.0
per your request. To use it, please call the following command in a separate terminal window:
rosservice call /robot/dlo_map/save_pcd LEAF_SIZE SAVE_PATH
from direct_lidar_odometry.
Hi @JACKLiuDay --
We've added a new service to save DLO's generated map into a
.pcd
inv1.4.0
per your request. To use it, please call the following command in a separate terminal window:rosservice call /robot/dlo_map/save_pcd LEAF_SIZE SAVE_PATH
Wow, it's awesome! Thank you for great work! We will test it soon.
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Hi, I have successfully run through the dataset named dlo_test.bag. But I still can't save successfully .pcb file. The following picture is my running result.
Could you please tell me how to deal this issue? Looking forward to your reply.
from direct_lidar_odometry.
Hi @JACKLiuDay --
We've added a new service to save DLO's generated map into a
.pcd
inv1.4.0
per your request. To use it, please call the following command in a separate terminal window:rosservice call /robot/dlo_map/save_pcd LEAF_SIZE SAVE_PATH
By the way, do you have the dataset of the second video in License in README.md? We want to try that dataset. Could you please share it with us?
from direct_lidar_odometry.
Hi @HomieRegina -- don't forget to change the input arguments of the service call, e.g.
rosservice call /robot/dlo_map/save_pcd 0.25 ~/Downloads
Regarding the multilevel dataset, we'll need to look into if we can publicly share that or not. Thanks.
from direct_lidar_odometry.
Hi @HomieRegina -- don't forget to change the input arguments of the service call, e.g.
rosservice call /robot/dlo_map/save_pcd 0.25 ~/Downloads
Regarding the multilevel dataset, we'll need to look into if we can publicly share that or not. Thanks.
Thank you for your reply. But now I have a new problem. When I ran dlo_ test. bag yesterday, rviz can successfully display the map. However, it was not displayed when running today. I tried so many times and the program did not report an error.
Do you know the reason and how to solve it?
from direct_lidar_odometry.
Might be a topic name mismatch if you modified the launch file. Try double-checking that.
from direct_lidar_odometry.
Related Issues (20)
- I feel a littl strange about the parameter kCorrespondences with scan to scan ? HOT 2
- Computational speed and efficieny of DLO HOT 1
- about covariance
- Parameter Tuning Suggestions HOT 3
- a little problem HOT 1
- Bug in adaptive threshold. HOT 2
- Question about the querying efficiency. HOT 1
- Pose relative to initial pose of the lidar sensor. HOT 4
- Initialization function HOT 4
- large drift in z-axis HOT 2
- Parameter tuning suggestions HOT 6
- How to improve the publish frequency of odom? HOT 3
- About IMU Preintegration! HOT 2
- ROS 2 support HOT 1
- Nano-GICP branch HOT 1
- Loop closure HOT 2
- Usage of LIDAR intensities HOT 2
- Drift using 2D Laser in large spaces HOT 1
- Run in Simulation
- Remove "namespace" attribute of the published topics and .pcd file connot be open.
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