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Please try as follows.
Play rosbag(slam_topics_2019-07-01-10-02-59.bag) and pause immediately.
Execute the following command to fix header.stamp to current ros time.
$ rosrun topic_tools relay_field /os1_cloud_node/points /points_raw sensor_msgs/PointCloud2 "header:
seq: m.header.seq
stamp: now
frame_id: m.header.frame_id
height: m.height
width: m.width
fields:
- {name: "x", offset: 0, datatype: 7, count: 1}
- {name: "y", offset: 4, datatype: 7, count: 1}
- {name: "z", offset: 8, datatype: 7, count: 1}
- {name: "intensity", offset: 16, datatype: 7, count: 1}
- {name: "t", offset: 20, datatype: 6, count: 1}
- {name: "reflectivity", offset: 24, datatype: 4, count: 1}
- {name: "ring", offset: 26, datatype: 2, count: 1}
- {name: "noise", offset: 28, datatype: 4, count: 1}
- {name: "range", offset: 32, datatype: 6, count: 1}
is_bigendian: m.is_bigendian
point_step: m.point_step
row_step: m.row_step
data: m.data
is_dense: m.is_dense"
Set BaseLink to Localizer(params is [0.465, 0, 1.945, 3.142, 0, 0])
Publish Point Cloud Map(autoware-190703-2.pcd)
Publish TF(autoware/ros/src/.config/tf/tf_local.launch)
Launch voxel_grid_filter(config: "Points Topic" is "/points_raw")
Launch ndt_matching(config: "Initial Pos" is [-5.68, 59.18, -5.775, -0.141, 0.004, 0.703])
Restart rosbag.