No transform between frames world and velodyne/base_link available about floam HOT 8 CLOSED

can you provide a rosbag link so that I can have a quick test?

from floam.

Hi @WenTheProgrammer

The KITTI dataset uses world as the origin, however, the frame for the origin is "map". Hence there is a static transform publisher between world and map. The trajectory visualizer subscribe the world and base_link to show the trajectory,

If you want to use velodyne, you can simply subscribe the map and base_link to show the trajectory, to do this, add

    <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_floam" ns="floam" >
        <param name="/target_frame_name" value="map" />
        <param name="/source_frame_name" value="base_link" />
        <param name="/trajectory_update_rate" value="10.0" />
        <param name="/trajectory_publish_rate" value="10.0" />
    </node>

from floam.

Thank you for the quick reply! I first modified floam_mapping.launch by adding the node as you instructed. Unfortunately the issue persisted. I noticed that in the launch file this node already existed:

<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="base_link" >
    <param name="/target_frame_name" value="world" />
    <param name="/source_frame_name" value="base_link" />
    <param name="/trajectory_update_rate" value="10.0" />
    <param name="/trajectory_publish_rate" value="10.0" />
</node>

Since it looked rather similar to the one that you suggested, I replaced it with the new node. Again, I received the same warnings. Any other suggestions? Thanks.

from floam.

You can ignore the warnings, and in the rviz menu, change the trajectory(floam_result) to the topic with floam, then you should see the trajectory

from floam.

If I understand you correctly, in RViz, under floam_result, Topic by default was /base_link/trajectory. The dropdown menu for Topic did not give me another option, so I just changed it to floam/trajectory, which returned me nothing. If possible I would like to view both trajectory and mapping results.

Aside from the viewing issue, how can I export the registered point clouds (mapping results) from FLOAM to a file (e.g. pcd/ply)? I did not find an apparent way of doing it in RViz. Thank you!

from floam.

You have to change to global frame to map in rviz

from floam.

After setting Fixed Frame to map I still don't see anything. Here is the screenshot:

Here are the terminal outputs:

from floam.

@wh200720041 Hi thank you for effort,
I used rosrun rqt_tf_tree to show the frame tree and it is as :

Is the relationship between the frames correct?

from floam.