Effacer les filtres
Effacer les filtres

Slam Map Builder and rosbags

13 vues (au cours des 30 derniers jours)
Emmanouil Angelos
Emmanouil Angelos le 8 Mai 2023
Hello to all, I have been trying to simulate Lidar SLAM using the Automated Driving Toolbox with Unreal implementation. So, I am creating ros2bags which I then convert to ros1bags .bag files to use in Matlab's SLAM.(for reference, Simulink provides pointcloud2 which I convert with a node to laserscan msgs)
My problem is with the Odom Topic. I have tried having in my .bag file, an /odom topic with nav_msgs/Odometry and then geometry_msgs/PoseStamped and in both cases SLAM finds my Lidar topic but I get N/A in my Odomo Topic.
Since the documentation for implementing Matlab with ROS in general is lacking a bit, can somebody provide the message types needed or topic names needed for Odom in this case?

Réponse acceptée

Akshai Manchana
Akshai Manchana le 11 Mar 2024
Hi Angelos,
We only support the following two message types to represent the odometry data 'tf/tfMessage', 'tf2_msgs/TFMessage'. To learn more about these message types look at the example. These messages store 'geometry_msgs/PoseStamped' within it.
Refer to our documentation for more details.

Plus de réponses (1)

Pratyush Swain
Pratyush Swain le 8 Sep 2023
Hey Angelos,
I understand that you are facing issues subscribing to values through the '/odom' topic. To troubleshoot this problem, you can follow these steps:
1. Please verify the topic source and type by using the following commands in command window.
rostopic echo /odom % returns the data going through the topic
rostopic info /odom % returns information regarding message type,publisher,subscriber
You can go through ros_topic_commands for more information
2. Please check the structure of 'nav_msgs/Odometry' or 'geometry_msgs/PoseStamped'messages being published on the '/odom' topic. For example - the 'geometry_msgs/PoseStamped'message type includes the position and orientation values separately.
Hope this helps.

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