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specifying the lidar frame id #25

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space192 opened this issue Jun 20, 2023 · 1 comment

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space192 commented Jun 20, 2023

Is it possible to set the frame id of the lidar in the parameters.yaml file ?

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rsasaki0109 commented Jun 20, 2023 •

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The following frame IDs can be set, but there is no transformation from the scan's lidar frame to the base_link.
https://github.com/rsasaki0109/pcl_localization_ros2/blob/main/src/pcl_localization_component.cpp#L9-L11
This means that the base_link and the lidar frame must match, or the conversion must be done at a different node beforehand.

If needed, for example, you might have to implement it referring to the following:
https://github.com/autowarefoundation/autoware.universe/blob/main/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp#L492-L506C1

rsasaki0109 self-assigned this

rsasaki0109 added the enhancement label

rsasaki0109 mentioned this issue

Localization Pose Offset Issue in lidar_localization_ros2 #44

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