{"action":"created","issue":{"url":"https://api.github.com/repos/ethz-asl/segmap/issues/86","repository_url":"https://api.github.com/repos/ethz-asl/segmap","labels_url":"https://api.github.com/repos/ethz-asl/segmap/issues/86/labels{/name}","comments_url":"https://api.github.com/repos/ethz-asl/segmap/issues/86/comments","events_url":"https://api.github.com/repos/ethz-asl/segmap/issues/86/events","html_url":"https://github.com/ethz-asl/segmap/issues/86","id":328936472,"node_id":"MDU6SXNzdWUzMjg5MzY0NzI=","number":86,"title":"Segmap on streaming LIDAR point cloud topics.","user":{"login":"JustWon","id":14357526,"node_id":"MDQ6VXNlcjE0MzU3NTI2","avatar_url":"https://avatars0.githubusercontent.com/u/14357526?v=4","gravatar_id":"","url":"https://api.github.com/users/JustWon","html_url":"https://github.com/JustWon","followers_url":"https://api.github.com/users/JustWon/followers","following_url":"https://api.github.com/users/JustWon/following{/other_user}","gists_url":"https://api.github.com/users/JustWon/gists{/gist_id}","starred_url":"https://api.github.com/users/JustWon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/JustWon/subscriptions","organizations_url":"https://api.github.com/users/JustWon/orgs","repos_url":"https://api.github.com/users/JustWon/repos","events_url":"https://api.github.com/users/JustWon/events{/privacy}","received_events_url":"https://api.github.com/users/JustWon/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2018-06-04T07:22:21Z","updated_at":"2018-06-04T18:49:09Z","closed_at":null,"author_association":"NONE","body":"Currently, I am trying to build a map by the input from an ros node publishing LIDAR point cloud topics.\r\nI followed some issues regarding this.\r\n\r\nhttps://github.com/ethz-asl/segmap/issues/81\r\nhttps://github.com/ethz-asl/segmap/issues/69\r\n\r\nI changed \"use_odometry_information\" to false\r\n\"assembled_cloud_sub_topic\" to /ns1/velodyne_points, in my case\r\n\"sensor_frame\" to left_velodyne\r\n\"use_odom_factors\" to false.\r\n\r\nAfter operating the launch file, I got the following error.\r\n\r\n![image](https://user-images.githubusercontent.com/14357526/40903260-c5f8829c-6811-11e8-8433-96afa60e8519.png)\r\n\r\nAfter analyzing the code, I found out that the topic message related to the odom_frame is necessary because of the tf_listener_.waitForTransform function in LaserSlamWorker::scanCallback function.\r\n\r\nSo I tried to publish the static transform by adding the following code in a launch file.\r\n<node pkg=\"tf\" type=\"static_transform_publisher\" name=\"link1_broadcaster\" args=\"1 0 0 0 0 0 1 link1_parent link1 100\" />\r\n\r\nbut still I encountered the same error.\r\n\r\nThe following figure shows the rqt_graph when doing so.\r\n![image](https://user-images.githubusercontent.com/14357526/40903707-482ad084-6813-11e8-83fb-4e0323130041.png)\r\n\r\n\r\n\r\nHave you tried Segmap for the streaming LIDAR topics?\r\n"},"comment":{"url":"https://api.github.com/repos/ethz-asl/segmap/issues/comments/394459231","html_url":"https://github.com/ethz-asl/segmap/issues/86#issuecomment-394459231","issue_url":"https://api.github.com/repos/ethz-asl/segmap/issues/86","id":394459231,"node_id":"MDEyOklzc3VlQ29tbWVudDM5NDQ1OTIzMQ==","user":{"login":"rdube","id":7094165,"node_id":"MDQ6VXNlcjcwOTQxNjU=","avatar_url":"https://avatars0.githubusercontent.com/u/7094165?v=4","gravatar_id":"","url":"https://api.github.com/users/rdube","html_url":"https://github.com/rdube","followers_url":"https://api.github.com/users/rdube/followers","following_url":"https://api.github.com/users/rdube/following{/other_user}","gists_url":"https://api.github.com/users/rdube/gists{/gist_id}","starred_url":"https://api.github.com/users/rdube/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rdube/subscriptions","organizations_url":"https://api.github.com/users/rdube/orgs","repos_url":"https://api.github.com/users/rdube/repos","events_url":"https://api.github.com/users/rdube/events{/privacy}","received_events_url":"https://api.github.com/users/rdube/received_events","type":"User","site_admin":false},"created_at":"2018-06-04T18:49:09Z","updated_at":"2018-06-04T18:49:09Z","author_association":"COLLABORATOR","body":"Also, first try visualizing the local map point cloud `/segmapper/local_map` It will not help to look at the segments until this local map isn't clean."}}
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