add a simple GNSS odometer #429
Conversation
feat: add pointcloud type to rosbosense 16-beam LiDAR
Feature/gps-odom
|
add support for robosense LiDAR pointcloud which contains XYZIRT data. |
|
I've already tested with a robosense Helios 16P LiDAR, 6-axis IMU inside CHC CGI-430/410 combined RTK-INS. |
There was a problem hiding this comment.
Hello @ahuazuipiaoliang, thank your for submitting this PR!
Great that you added support for robosense lidars!
In addition to the comments I made in-line, could you please add some description in readme.md on how to use this feature and of the differences between your approach and the one used by the original author (navsat_transform_node etc.).
| @@ -52,6 +52,10 @@ ament_target_dependencies(${PROJECT_NAME}_mapOptimization rclcpp rclpy std_msgs | |||
| target_link_libraries(${PROJECT_NAME}_mapOptimization gtsam) | |||
| rosidl_target_interfaces(${PROJECT_NAME}_mapOptimization ${PROJECT_NAME} "rosidl_typesupport_cpp") | |||
|
|
|||
| add_executable(${PROJECT_NAME}_simpleGpsOdom src/simpleGpsOdom.cpp) | |||
| ament_target_dependencies(${PROJECT_NAME}_simpleGpsOdom rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL) | |||
There was a problem hiding this comment.
does not depend on e.g. OpenCV, PCL
There was a problem hiding this comment.
In https://github.com/JokerJohn/LIO_SAM_6AXIS/blob/d026151c12588821de8b7dd240b3ca7012da007d/LIO-SAM-6AXIS/include/gpsTools.hpp i do not see a license specification that would allow to copy that here and put it under the BSD license of this project. Also that "Created by" node does not help in this regard.
| } | ||
|
|
||
| /** | ||
| * //2. LLA经度(longitude),纬度(latitude)和高度(altitude)经纬高坐标系 |
There was a problem hiding this comment.
English is not my mother tongue either, but still I would prefer to keep comments in English, just for consistency.
There was a problem hiding this comment.
That license note from above also applies to this file.
| @@ -16,7 +16,7 @@ def generate_launch_description(): | |||
| params_declare = DeclareLaunchArgument( | |||
| 'params_file', | |||
| default_value=os.path.join( | |||
| share_dir, 'config', 'params.yaml'), | |||
| share_dir, 'config', 'params_rs16.yaml'), | |||
There was a problem hiding this comment.
The default configuration shall stay as it was.
|
This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions. |
|
How come the GPS data remains in the ENU frame, and isn't transformed into the lidar frame? |
|
@juliangaal For now, I assume the position of GNSS is exactly at the position of LiDAR frame. I should added a transform between LiDAR and GPS |
|
Why is it GNSS odometer? Are there any advantages for GNSS odometer compared GNSS original measurements? |
|
@zhh2005757 the GNSS odometer is only the node that converts LLH coordinates to cartesian coordinates. |
add a simple GNSS odometer that modified based on lio_sam_6axis.
I my branch, I only use GNSS for heading initialization.