ZOUJIASHUAI

> Hello, > > The `ambient_pointcloud` topic should be assembled in the `odom` frame and not in the `map` frame, because `laser` -> `odom` provides a smooth tf chain, while...

hello @JGMonroy

srf can not compile with ros noetic because noetic does not have correct mrpt version,is there a way that can compile srf without mrpt?

这个PCD序列的文件好像普通建图包都没有，比如lio sam都是建一张GlobalMap.pcd，要怎么获取带序列的pcd文件和pose.json呢

@YWL0720

> https://github.com/YWL0720/FAST_LIO 这个工程可以得到 pcd和json 也是这个老哥写的 这个是里程计吧？大地图没有回环会有问题吧？