ndt_mapping doesn't compute transformation matrix

[Kin-Zhang]

Bug report

Required information:

• Operating system and version:
  • Ubuntu 18.04
• Autoware installation type:
  • From source
• Autoware version or commit hash
  • V1.14 master
• ROS distribution and version:
  • melodic
• ROS installation type:
  • From source
• Package or library, if applicable:
  • ndt_mapping

Description of the bug

I run ndt_mapping on the demo bag file (sample_moriyama_150324.bag). It shows /point_raw on rviz, but /points_map can't be visualized and /current_pose is alwasys zero matrix. Does anyone have an idea why?

Steps to reproduce the bug

1. Launch runtime_manager
2. Launch tf of velodyne and map
3. Launch ndt_mapping
4. Launch Rviz
5. Cancel the pause of .bag file

Expected behavior

have mapping output

Actual behavior

Console output: ....

"-----------------------------------------------------------------"
(Processed/Input): (306 / 308)
"-----------------------------------------------------------------"
Sequence number: 86918
Number of scan points: 39581 points.
Number of filtered scan points: 3091 points.
transformed_scan_ptr: 39581 points.
map: 39928 points.
NDT has converged: 1
Fitness score: 0
Number of iteration: 0
(x,y,z,roll,pitch,yaw):
(0, 0, 0, 0, -0, 0)
Transformation Matrix:
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
shift: 0

Additional information

https://answers.ros.org/question/365415/autoware-ndt_mapping-doesnt-compute-transformation-matrix/?answer=373505#post-id-373505

[Kin-Zhang]

I just fix this bug by myself, and see pull request in: https://github.com/Autoware-AI/core_perception/pull/60

[1003613248]

I have changed the code as you said and the matrix result is right , but i can't output the 3D pointcloud? Autoware1.14 Ubuntu18.04 ROS Melodic NVIDIA Xavier

[Kin-Zhang]

I have changed the code as you said and the matrix result is right , but i can't output the 3D pointcloud? Autoware1.14 Ubuntu18.04 ROS Melodic NVIDIA Xavier

I extracted this ndt_mapping to single package, see here: https://gitee.com/kin_zhang/mapping_ws/tree/master

[1003613248]

    Thanks for your reply , I have resolved my problem , specifically because I use the CPU to do ndt_mapping and NVIDIA Xavier CPU        computing power is not enough. So ndt_mapping failed . I use a industrial computer instead , now it works. 

   Thanks for you work extracting the autoware mapping and localizer module,. I will try it .

------------------ 原始邮件 ------------------ 发件人: "Autoware-AI/core_perception" @.>; 发送时间: 2022年4月20日(星期三) 中午12:11 @.>; @.@.>; 主题: Re: [Autoware-AI/core_perception] ndt_mapping doesn't compute transformation matrix (#58)

I have changed the code as you said and the matrix result is right , but i can't output the 3D pointcloud? Autoware1.14 Ubuntu18.04 ROS Melodic NVIDIA Xavier

I extracted this ndt_mapping to single package, see here: https://gitee.com/kin_zhang/mapping_ws/tree/master

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