From 2624398b2850bb1c15faa8483f7b84efdc46ccd1 Mon Sep 17 00:00:00 2001 From: Ophien Date: Tue, 7 Jan 2025 04:04:18 -0300 Subject: [PATCH 1/5] Noetic version of LeGO-LOAM Added boost dependencies into CMakeLists Removed starting forward slash from transforms from the featureAssociation.cpp mapOptimization.cpp and transformFusion.cpp Removed starting forward slash from static transforms from camera Changed the default topic to /mid/points Enabled loop-closure as default --- LeGO-LOAM/CMakeLists.txt | 5 +++-- LeGO-LOAM/include/utility.h | 9 +++++---- LeGO-LOAM/launch/run.launch | 4 ++-- LeGO-LOAM/src/featureAssociation.cpp | 26 +++++++++++++------------- LeGO-LOAM/src/mapOptmization.cpp | 20 ++++++++++---------- LeGO-LOAM/src/transformFusion.cpp | 16 ++++++++-------- 6 files changed, 41 insertions(+), 39 deletions(-) diff --git a/LeGO-LOAM/CMakeLists.txt b/LeGO-LOAM/CMakeLists.txt index efebe5b3..bd8e577b 100755 --- a/LeGO-LOAM/CMakeLists.txt +++ b/LeGO-LOAM/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 2.8.3) project(lego_loam) -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -O3") find_package(catkin REQUIRED COMPONENTS tf @@ -23,6 +23,7 @@ find_package(catkin REQUIRED COMPONENTS find_package(GTSAM REQUIRED QUIET) find_package(PCL REQUIRED QUIET) find_package(OpenCV REQUIRED QUIET) +find_package(Boost REQUIRED COMPONENTS timer thread serialization chrono) catkin_package( INCLUDE_DIRS include @@ -57,4 +58,4 @@ add_executable(mapOptmization src/mapOptmization.cpp) target_link_libraries(mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam) add_executable(transformFusion src/transformFusion.cpp) -target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES}) \ No newline at end of file +target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES}) diff --git a/LeGO-LOAM/include/utility.h b/LeGO-LOAM/include/utility.h index 0c13827f..9d9d71eb 100755 --- a/LeGO-LOAM/include/utility.h +++ b/LeGO-LOAM/include/utility.h @@ -10,7 +10,8 @@ #include "cloud_msgs/cloud_info.h" -#include +//#include +#include #include #include @@ -50,14 +51,14 @@ using namespace std; typedef pcl::PointXYZI PointType; -extern const string pointCloudTopic = "/velodyne_points"; +extern const string pointCloudTopic = "/mid/points"; extern const string imuTopic = "/imu/data"; // Save pcd extern const string fileDirectory = "/tmp/"; // Using velodyne cloud "ring" channel for image projection (other lidar may have different name for this channel, change "PointXYZIR" below) -extern const bool useCloudRing = true; // if true, ang_res_y and ang_bottom are not used +extern const bool useCloudRing = false; // if true, ang_res_y and ang_bottom are not used // VLP-16 extern const int N_SCAN = 16; @@ -101,7 +102,7 @@ extern const int groundScanInd = 7; // extern const float ang_bottom = 16.6+0.1; // extern const int groundScanInd = 15; -extern const bool loopClosureEnableFlag = false; +extern const bool loopClosureEnableFlag = true; extern const double mappingProcessInterval = 0.3; extern const float scanPeriod = 0.1; diff --git a/LeGO-LOAM/launch/run.launch b/LeGO-LOAM/launch/run.launch index 65a5a543..41ff198e 100755 --- a/LeGO-LOAM/launch/run.launch +++ b/LeGO-LOAM/launch/run.launch @@ -7,8 +7,8 @@ - - + + diff --git a/LeGO-LOAM/src/featureAssociation.cpp b/LeGO-LOAM/src/featureAssociation.cpp index a13447f8..82e33715 100755 --- a/LeGO-LOAM/src/featureAssociation.cpp +++ b/LeGO-LOAM/src/featureAssociation.cpp @@ -302,11 +302,11 @@ class FeatureAssociation{ kdtreeCornerLast.reset(new pcl::KdTreeFLANN()); kdtreeSurfLast.reset(new pcl::KdTreeFLANN()); - laserOdometry.header.frame_id = "/camera_init"; - laserOdometry.child_frame_id = "/laser_odom"; + laserOdometry.header.frame_id = "camera_init"; + laserOdometry.child_frame_id = "laser_odom"; - laserOdometryTrans.frame_id_ = "/camera_init"; - laserOdometryTrans.child_frame_id_ = "/laser_odom"; + laserOdometryTrans.frame_id_ = "camera_init"; + laserOdometryTrans.child_frame_id_ = "laser_odom"; isDegenerate = false; matP = cv::Mat(6, 6, CV_32F, cv::Scalar::all(0)); @@ -790,28 +790,28 @@ class FeatureAssociation{ if (pubCornerPointsSharp.getNumSubscribers() != 0){ pcl::toROSMsg(*cornerPointsSharp, laserCloudOutMsg); laserCloudOutMsg.header.stamp = cloudHeader.stamp; - laserCloudOutMsg.header.frame_id = "/camera"; + laserCloudOutMsg.header.frame_id = "camera"; pubCornerPointsSharp.publish(laserCloudOutMsg); } if (pubCornerPointsLessSharp.getNumSubscribers() != 0){ pcl::toROSMsg(*cornerPointsLessSharp, laserCloudOutMsg); laserCloudOutMsg.header.stamp = cloudHeader.stamp; - laserCloudOutMsg.header.frame_id = "/camera"; + laserCloudOutMsg.header.frame_id = "camera"; pubCornerPointsLessSharp.publish(laserCloudOutMsg); } if (pubSurfPointsFlat.getNumSubscribers() != 0){ pcl::toROSMsg(*surfPointsFlat, laserCloudOutMsg); laserCloudOutMsg.header.stamp = cloudHeader.stamp; - laserCloudOutMsg.header.frame_id = "/camera"; + laserCloudOutMsg.header.frame_id = "camera"; pubSurfPointsFlat.publish(laserCloudOutMsg); } if (pubSurfPointsLessFlat.getNumSubscribers() != 0){ pcl::toROSMsg(*surfPointsLessFlat, laserCloudOutMsg); laserCloudOutMsg.header.stamp = cloudHeader.stamp; - laserCloudOutMsg.header.frame_id = "/camera"; + laserCloudOutMsg.header.frame_id = "camera"; pubSurfPointsLessFlat.publish(laserCloudOutMsg); } } @@ -1621,13 +1621,13 @@ class FeatureAssociation{ sensor_msgs::PointCloud2 laserCloudCornerLast2; pcl::toROSMsg(*laserCloudCornerLast, laserCloudCornerLast2); laserCloudCornerLast2.header.stamp = cloudHeader.stamp; - laserCloudCornerLast2.header.frame_id = "/camera"; + laserCloudCornerLast2.header.frame_id = "camera"; pubLaserCloudCornerLast.publish(laserCloudCornerLast2); sensor_msgs::PointCloud2 laserCloudSurfLast2; pcl::toROSMsg(*laserCloudSurfLast, laserCloudSurfLast2); laserCloudSurfLast2.header.stamp = cloudHeader.stamp; - laserCloudSurfLast2.header.frame_id = "/camera"; + laserCloudSurfLast2.header.frame_id = "camera"; pubLaserCloudSurfLast.publish(laserCloudSurfLast2); transformSum[0] += imuPitchStart; @@ -1797,19 +1797,19 @@ class FeatureAssociation{ sensor_msgs::PointCloud2 outlierCloudLast2; pcl::toROSMsg(*outlierCloud, outlierCloudLast2); outlierCloudLast2.header.stamp = cloudHeader.stamp; - outlierCloudLast2.header.frame_id = "/camera"; + outlierCloudLast2.header.frame_id = "camera"; pubOutlierCloudLast.publish(outlierCloudLast2); sensor_msgs::PointCloud2 laserCloudCornerLast2; pcl::toROSMsg(*laserCloudCornerLast, laserCloudCornerLast2); laserCloudCornerLast2.header.stamp = cloudHeader.stamp; - laserCloudCornerLast2.header.frame_id = "/camera"; + laserCloudCornerLast2.header.frame_id = "camera"; pubLaserCloudCornerLast.publish(laserCloudCornerLast2); sensor_msgs::PointCloud2 laserCloudSurfLast2; pcl::toROSMsg(*laserCloudSurfLast, laserCloudSurfLast2); laserCloudSurfLast2.header.stamp = cloudHeader.stamp; - laserCloudSurfLast2.header.frame_id = "/camera"; + laserCloudSurfLast2.header.frame_id = "camera"; pubLaserCloudSurfLast.publish(laserCloudSurfLast2); } } diff --git a/LeGO-LOAM/src/mapOptmization.cpp b/LeGO-LOAM/src/mapOptmization.cpp index 56088327..be809872 100755 --- a/LeGO-LOAM/src/mapOptmization.cpp +++ b/LeGO-LOAM/src/mapOptmization.cpp @@ -256,11 +256,11 @@ class mapOptimization{ downSizeFilterGlobalMapKeyPoses.setLeafSize(1.0, 1.0, 1.0); // for global map visualization downSizeFilterGlobalMapKeyFrames.setLeafSize(0.4, 0.4, 0.4); // for global map visualization - odomAftMapped.header.frame_id = "/camera_init"; - odomAftMapped.child_frame_id = "/aft_mapped"; + odomAftMapped.header.frame_id = "camera_init"; + odomAftMapped.child_frame_id = "aft_mapped"; - aftMappedTrans.frame_id_ = "/camera_init"; - aftMappedTrans.child_frame_id_ = "/aft_mapped"; + aftMappedTrans.frame_id_ = "camera_init"; + aftMappedTrans.child_frame_id_ = "aft_mapped"; allocateMemory(); } @@ -695,7 +695,7 @@ class mapOptimization{ sensor_msgs::PointCloud2 cloudMsgTemp; pcl::toROSMsg(*cloudKeyPoses3D, cloudMsgTemp); cloudMsgTemp.header.stamp = ros::Time().fromSec(timeLaserOdometry); - cloudMsgTemp.header.frame_id = "/camera_init"; + cloudMsgTemp.header.frame_id = "camera_init"; pubKeyPoses.publish(cloudMsgTemp); } @@ -703,7 +703,7 @@ class mapOptimization{ sensor_msgs::PointCloud2 cloudMsgTemp; pcl::toROSMsg(*laserCloudSurfFromMapDS, cloudMsgTemp); cloudMsgTemp.header.stamp = ros::Time().fromSec(timeLaserOdometry); - cloudMsgTemp.header.frame_id = "/camera_init"; + cloudMsgTemp.header.frame_id = "camera_init"; pubRecentKeyFrames.publish(cloudMsgTemp); } @@ -716,7 +716,7 @@ class mapOptimization{ sensor_msgs::PointCloud2 cloudMsgTemp; pcl::toROSMsg(*cloudOut, cloudMsgTemp); cloudMsgTemp.header.stamp = ros::Time().fromSec(timeLaserOdometry); - cloudMsgTemp.header.frame_id = "/camera_init"; + cloudMsgTemp.header.frame_id = "camera_init"; pubRegisteredCloud.publish(cloudMsgTemp); } } @@ -790,7 +790,7 @@ class mapOptimization{ sensor_msgs::PointCloud2 cloudMsgTemp; pcl::toROSMsg(*globalMapKeyFramesDS, cloudMsgTemp); cloudMsgTemp.header.stamp = ros::Time().fromSec(timeLaserOdometry); - cloudMsgTemp.header.frame_id = "/camera_init"; + cloudMsgTemp.header.frame_id = "camera_init"; pubLaserCloudSurround.publish(cloudMsgTemp); globalMapKeyPoses->clear(); @@ -864,7 +864,7 @@ class mapOptimization{ sensor_msgs::PointCloud2 cloudMsgTemp; pcl::toROSMsg(*nearHistorySurfKeyFrameCloudDS, cloudMsgTemp); cloudMsgTemp.header.stamp = ros::Time().fromSec(timeLaserOdometry); - cloudMsgTemp.header.frame_id = "/camera_init"; + cloudMsgTemp.header.frame_id = "camera_init"; pubHistoryKeyFrames.publish(cloudMsgTemp); } @@ -910,7 +910,7 @@ class mapOptimization{ sensor_msgs::PointCloud2 cloudMsgTemp; pcl::toROSMsg(*closed_cloud, cloudMsgTemp); cloudMsgTemp.header.stamp = ros::Time().fromSec(timeLaserOdometry); - cloudMsgTemp.header.frame_id = "/camera_init"; + cloudMsgTemp.header.frame_id = "camera_init"; pubIcpKeyFrames.publish(cloudMsgTemp); } /* diff --git a/LeGO-LOAM/src/transformFusion.cpp b/LeGO-LOAM/src/transformFusion.cpp index 73fb3abc..84fd20ad 100755 --- a/LeGO-LOAM/src/transformFusion.cpp +++ b/LeGO-LOAM/src/transformFusion.cpp @@ -69,17 +69,17 @@ class TransformFusion{ subLaserOdometry = nh.subscribe("/laser_odom_to_init", 5, &TransformFusion::laserOdometryHandler, this); subOdomAftMapped = nh.subscribe("/aft_mapped_to_init", 5, &TransformFusion::odomAftMappedHandler, this); - laserOdometry2.header.frame_id = "/camera_init"; - laserOdometry2.child_frame_id = "/camera"; + laserOdometry2.header.frame_id = "camera_init"; + laserOdometry2.child_frame_id = "camera"; - laserOdometryTrans2.frame_id_ = "/camera_init"; - laserOdometryTrans2.child_frame_id_ = "/camera"; + laserOdometryTrans2.frame_id_ = "camera_init"; + laserOdometryTrans2.child_frame_id_ = "camera"; - map_2_camera_init_Trans.frame_id_ = "/map"; - map_2_camera_init_Trans.child_frame_id_ = "/camera_init"; + map_2_camera_init_Trans.frame_id_ = "map"; + map_2_camera_init_Trans.child_frame_id_ = "camera_init"; - camera_2_base_link_Trans.frame_id_ = "/camera"; - camera_2_base_link_Trans.child_frame_id_ = "/base_link"; + camera_2_base_link_Trans.frame_id_ = "camera"; + camera_2_base_link_Trans.child_frame_id_ = "base_link"; for (int i = 0; i < 6; ++i) { From 757db9df748c4b4dc864a217e69bc531689d7d9d Mon Sep 17 00:00:00 2001 From: Ophien Date: Sun, 12 Jan 2025 22:29:45 -0300 Subject: [PATCH 2/5] Use_sim_time config removed using sim time from the launch file since it is being set in the autonomy stack. --- LeGO-LOAM/launch/run.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/LeGO-LOAM/launch/run.launch b/LeGO-LOAM/launch/run.launch index 41ff198e..8ad11779 100755 --- a/LeGO-LOAM/launch/run.launch +++ b/LeGO-LOAM/launch/run.launch @@ -1,7 +1,7 @@ - + From 10955a47213017b2b30250d1adecec673a49ab4a Mon Sep 17 00:00:00 2001 From: Alysson Ribeiro da Silva Date: Wed, 12 Feb 2025 10:30:36 -0300 Subject: [PATCH 3/5] Updated viz and imu source (#3) - Changed default IMU source to the unit merged with magnetometer - Changed the default viz to load the autonomy stack waypoints and local map --- LeGO-LOAM/include/utility.h | 2 +- LeGO-LOAM/launch/test.rviz | 203 ++++++++++++++++++------------------ 2 files changed, 104 insertions(+), 101 deletions(-) diff --git a/LeGO-LOAM/include/utility.h b/LeGO-LOAM/include/utility.h index 9d9d71eb..b2c74864 100755 --- a/LeGO-LOAM/include/utility.h +++ b/LeGO-LOAM/include/utility.h @@ -52,7 +52,7 @@ using namespace std; typedef pcl::PointXYZI PointType; extern const string pointCloudTopic = "/mid/points"; -extern const string imuTopic = "/imu/data"; +extern const string imuTopic = "/imu/imu_and_mag"; // Save pcd extern const string fileDirectory = "/tmp/"; diff --git a/LeGO-LOAM/launch/test.rviz b/LeGO-LOAM/launch/test.rviz index 721f8b2c..2bbb6bd1 100644 --- a/LeGO-LOAM/launch/test.rviz +++ b/LeGO-LOAM/launch/test.rviz @@ -4,27 +4,30 @@ Panels: Name: Displays Property Tree Widget: Expanded: + - /Global Options1 - /TF1/Frames1 - Splitter Ratio: 0.703999996 - Tree Height: 707 + Splitter Ratio: 0.7039999961853027 + Tree Height: 272 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties - Expanded: ~ + Expanded: + - /2D Nav Goal1 Name: Tool Properties - Splitter Ratio: 0.588679016 + Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time - Experimental: false Name: Time SyncMode: 0 - SyncSource: Edge Features (green) + SyncSource: Surface Features (pink) - Class: rviz/Help Name: Help +Preferences: + PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: @@ -32,9 +35,12 @@ Visualization Manager: Displays: - Class: rviz/TF Enabled: false + Filter (blacklist): "" + Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: false + Marker Alpha: 1 Marker Scale: 10 Name: TF Show Arrows: true @@ -44,25 +50,29 @@ Visualization Manager: {} Update Interval: 0 Value: false - - Class: rviz/Axes - Enabled: true + - Alpha: 1 + Class: rviz/Axes + Enabled: false Length: 2 Name: map - Radius: 0.300000012 + Radius: 0.30000001192092896 Reference Frame: map - Value: true - - Class: rviz/Axes + Show Trail: false + Value: false + - Alpha: 1 + Class: rviz/Axes Enabled: true Length: 1 Name: base_link Radius: 0.5 Reference Frame: base_link + Show Trail: false Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 17.0059433 - Min Value: -1.04788589 + Max Value: 17.005943298339844 + Min Value: -1.0478858947753906 Value: true Axis: Z Channel Name: intensity @@ -73,15 +83,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 183 Min Color: 0; 0; 0 - Min Intensity: 1 Name: Velodyne Position Transformer: XYZ Queue Size: 2 Selectable: true Size (Pixels): 3 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /full_cloud_projected Unreliable: false @@ -91,8 +99,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 20.4566002 - Min Value: -3.58307004 + Max Value: 20.456600189208984 + Min Value: -3.5830700397491455 Value: true Axis: Z Channel Name: intensity @@ -103,15 +111,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 96 Min Color: 0; 0; 0 - Min Intensity: 1 Name: Surface (yellow) Position Transformer: XYZ Queue Size: 2 Selectable: true Size (Pixels): 8 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /laser_cloud_flat Unreliable: false @@ -121,8 +127,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 20.4566002 - Min Value: -3.58307004 + Max Value: 20.456600189208984 + Min Value: -3.5830700397491455 Value: true Axis: Z Channel Name: intensity @@ -133,15 +139,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 96 Min Color: 0; 0; 0 - Min Intensity: 1 Name: Edge Sharp (blue) Position Transformer: XYZ Queue Size: 2 Selectable: true Size (Pixels): 8 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /laser_cloud_sharp Unreliable: false @@ -151,8 +155,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 20.4566002 - Min Value: -3.58307004 + Max Value: 20.456600189208984 + Min Value: -3.5830700397491455 Value: true Axis: Z Channel Name: intensity @@ -160,29 +164,27 @@ Visualization Manager: Color: 0; 255; 0 Color Transformer: FlatColor Decay Time: 0 - Enabled: true + Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 96 Min Color: 0; 0; 0 - Min Intensity: 1 Name: Edge Features (green) Position Transformer: XYZ Queue Size: 2 Selectable: true Size (Pixels): 5 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /laser_cloud_less_sharp Unreliable: false Use Fixed Frame: true Use rainbow: true - Value: true + Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 20.4566002 - Min Value: -3.58307004 + Max Value: 20.456600189208984 + Min Value: -3.5830700397491455 Value: true Axis: Z Channel Name: intensity @@ -193,15 +195,13 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 96 Min Color: 0; 0; 0 - Min Intensity: 1 Name: Surface Features (pink) Position Transformer: XYZ Queue Size: 2 Selectable: true Size (Pixels): 3 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /laser_cloud_less_flat Unreliable: false @@ -211,8 +211,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 10.7254 - Min Value: -6.34819984 + Max Value: 10.7253999710083 + Min Value: -6.348199844360352 Value: true Axis: Z Channel Name: intensity @@ -223,15 +223,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 15.1604996 Min Color: 0; 0; 0 - Min Intensity: 8.00349998 Name: Outlier Cloud Position Transformer: XYZ Queue Size: 2 Selectable: true Size (Pixels): 3 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /outlier_cloud Unreliable: false @@ -253,15 +251,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 15.1787996 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Segmentation Full Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /segmented_cloud Unreliable: false @@ -283,15 +279,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 241 Min Color: 0; 0; 0 - Min Intensity: 1 Name: Segmentation Pure Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 5 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /segmented_cloud_pure Unreliable: false @@ -301,8 +295,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 18.9591999 - Min Value: 0.0404983014 + Max Value: 18.959199905395508 + Min Value: 0.04049830138683319 Value: true Axis: Z Channel Name: intensity @@ -313,15 +307,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 15 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Ground Cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /ground_cloud Unreliable: false @@ -331,8 +323,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 4.57089996 - Min Value: 0.300000012 + Max Value: 4.570899963378906 + Min Value: 0.30000001192092896 Value: true Axis: Z Channel Name: intensity @@ -343,15 +335,13 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 42 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Trajectory Position Transformer: XYZ Queue Size: 1 Selectable: true Size (Pixels): 3 - Size (m): 0.300000012 + Size (m): 0.30000001192092896 Style: Flat Squares Topic: /key_pose_origin Unreliable: false @@ -373,15 +363,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 15 Min Color: 0; 0; 0 - Min Intensity: 0 Name: ICP cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 5 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /corrected_cloud Unreliable: false @@ -403,15 +391,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 15 Min Color: 0; 0; 0 - Min Intensity: 0 Name: History Key Frames Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 2 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /history_cloud Unreliable: false @@ -421,8 +407,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 23.0833607 - Min Value: -3.98265076 + Max Value: 23.08336067199707 + Min Value: -3.9826507568359375 Value: true Axis: Y Channel Name: intensity @@ -433,15 +419,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 15 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Map Cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 1 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /laser_cloud_surround Unreliable: false @@ -451,8 +435,8 @@ Visualization Manager: - Alpha: 0.5 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 52.9331703 - Min Value: -7.77158022 + Max Value: 8.569266319274902 + Min Value: -1.1881691217422485 Value: true Axis: Y Channel Name: intensity @@ -463,15 +447,13 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 15 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Map Cloud (stack) Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 2 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /registered_cloud Unreliable: false @@ -481,8 +463,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 20.2114735 - Min Value: -2.70486069 + Max Value: 20.21147346496582 + Min Value: -2.7048606872558594 Value: true Axis: Z Channel Name: intensity @@ -493,21 +475,46 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 15 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Surround Cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 2 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Points Topic: /recent_cloud Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Map + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 255; 127 + Enabled: true + Head Length: 0.5 + Head Radius: 0.5 + Name: PoseArray + Queue Size: 10 + Shaft Length: 0.699999988079071 + Shaft Radius: 0.20000000298023224 + Shape: Arrow (3D) + Topic: /waypoints + Unreliable: false + Value: true Enabled: true Global Options: Background Color: 0; 0; 0 @@ -520,39 +527,35 @@ Visualization Manager: Hide Inactive Objects: true - Class: rviz/FocusCamera - Class: rviz/Measure + - Class: rviz/SetGoal + Topic: goal Value: true Views: Current: - Class: rviz/Orbit - Distance: 86.4874191 + Angle: 3.8550047874450684 + Class: rviz/TopDownOrtho Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: false - Focal Shape Size: 0.0500000007 Invert Z Axis: false Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.829797029 + Near Clip Distance: 0.009999999776482582 + Scale: 28.60154151916504 Target Frame: base_link - Value: Orbit (rviz) - Yaw: 0.395514786 + X: 1.4938398599624634 + Y: -1.225363850593567 Saved: ~ Window Geometry: Displays: - collapsed: false - Height: 1028 + collapsed: true + Height: 1371 Help: collapsed: false - Hide Left Dock: false + Hide Left Dock: true Hide Right Dock: true - QMainWindow State: 000000ff00000000fd000000040000000000000179000003b5fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002e000003b5000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000800480065006c0070000000032c000000ba0000007900ffffff000000010000010f000003befc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003be000000b700fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073f00000039fc0100000003fb0000001600520061006e0067006500200049006d00610067006500000000000000073f0000000000000000fb0000000a0049006d0061006700650000000000000006100000000000000000fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e0000003efc0100000002fb0000000800540069006d006500000000000000073e0000038300fffffffb0000000800540069006d0065010000000000000450000000000000000000000600000003b500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000017500000505fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003b00000505000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000800480065006c0070000000032c000000ba0000006e00ffffff000000010000010f00000505fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000505000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073f00000039fc0100000003fb0000001600520061006e0067006500200049006d00610067006500000000000000073f0000000000000000fb0000000a0049006d0061006700650000000000000006100000000000000000fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e0000003efc0100000002fb0000000800540069006d006500000000000000073e0000035c00fffffffb0000000800540069006d00650100000000000004500000000000000000000009c60000050500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -561,6 +564,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1920 - X: 637 - Y: 227 + Width: 2502 + X: 58 + Y: 32 From 68c7985d1cfc861c850fe6899c9b297347abb97c Mon Sep 17 00:00:00 2001 From: Ophien Date: Mon, 17 Feb 2025 14:23:24 -0300 Subject: [PATCH 4/5] Added arguments for IMU and LiDAR --- LeGO-LOAM/launch/run.launch | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/LeGO-LOAM/launch/run.launch b/LeGO-LOAM/launch/run.launch index 8ad11779..3ca82a93 100755 --- a/LeGO-LOAM/launch/run.launch +++ b/LeGO-LOAM/launch/run.launch @@ -2,6 +2,8 @@ + + @@ -11,7 +13,10 @@ - + + + + From e7f35a98fd36e0a3f8e546708f56d8ed62216831 Mon Sep 17 00:00:00 2001 From: Ronaldo Dutra Date: Fri, 30 May 2025 12:44:18 -0300 Subject: [PATCH 5/5] changes in run.launch --- LeGO-LOAM/launch/run.launch | 6 +++--- LeGO-LOAM/src/transformFusion.cpp | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/LeGO-LOAM/launch/run.launch b/LeGO-LOAM/launch/run.launch index 3ca82a93..190c9324 100755 --- a/LeGO-LOAM/launch/run.launch +++ b/LeGO-LOAM/launch/run.launch @@ -2,20 +2,20 @@ - + - + - + diff --git a/LeGO-LOAM/src/transformFusion.cpp b/LeGO-LOAM/src/transformFusion.cpp index 84fd20ad..383a4cc3 100755 --- a/LeGO-LOAM/src/transformFusion.cpp +++ b/LeGO-LOAM/src/transformFusion.cpp @@ -251,4 +251,4 @@ int main(int argc, char** argv) ros::spin(); return 0; -} +} \ No newline at end of file