elevation_mapping
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ANYbotics
How Can I run this software in real time?
Dear Author, I have tried your work, it is amazing, however when I run it, the map grow up slowly, it couldn't refresh the map in real time against with my robot moving. Could you please tell me why? And what is more ,can I get the whole map instead of the robot-centric map?
Hi @LZMHIT, thank you for using elevation mapping.
In which frequency did it run on your system? It depends on the hardware and the settings. This pull request #96 discusses some possibilities to increase fps.
And what is more ,can I get the whole map instead of the robot-centric map?
Do you mean that the map should constantly grow? The elevation map is always robot-centric.
Hi @LZMHIT, thank you for using elevation mapping.
In which frequency did it run on your system? It depends on the hardware and the settings. This pull request #96 discusses some possibilities to increase fps.
And what is more ,can I get the whole map instead of the robot-centric map?
Do you mean that the map should constantly grow? The elevation map is always robot-centric. Yeah, that just what I mean, thank you for your reply, I have another question. Yesterday, I tried to use elevation mapping with velodyne 32, however it seems that it can not get a continuous terrain mapping, can I use the parameters like the struct_light?
@LZMHIT Did you make sure to build in "Release"? Although the elevation mapping was originally developed for a robot-centric formulation, you can also associate the map to a static frame and run it world-centric.
@pfankhauser I only build with catkin_make, and I got a world-centric map by changing the track_point_frame_id in starleth.yaml, however how can I fuse all the every data frame form the sensor like kinect together in to the map? Till now, I can only get the map from the newest sensor data, while it disappeared when the next frame come, could you please tell me how to fused them together?
Yeah, that just what I mean, thank you for your reply, I have another question. Yesterday, I tried to use elevation mapping with velodyne 32, however it seems that it can not get a continuous terrain mapping, can I use the parameters like the struct_light?
You can use this YAML file for Velodyne 32.
@DLonng, no, but feel free to make a PR to this repo if you tune a new configuration file.
@DLonng, no, but feel free to make a PR to this repo if you tune a new configuration file.
ok, thanks