Launch Go2-W using laser odom from dddmr_lgeo_loam_bor

[tsengapola]

There is no odom in Go2-W, would like to use laser odom from dddmr_lego_loam_bor for the localization.

[tsengapola]

@zheyisoo you can try branch issue12.

You can refer to the launch file and integrate to yours: https://github.com/dfl-rlab/dddmr_navigation/blob/issue12/src/dddmr_p2p_move_base/launch/p2p_move_base_localization.launch

Be aware that laser odometry is not accurate especially for a lidar with few lines. I did not succeed to use laser odometry to localize my robot in many environments.

I think you might need fast-lio to provide good odom.

[zheyisoo]

Thanks @tsengapola! I am going to try that, regarding to featureAssociation.cpp

  mappingOdometry.header.frame_id = "camera_init";
  mappingOdometry.child_frame_id = "laser_odom";

  laserOdometryTrans.header.frame_id = "camera_init";
  laserOdometryTrans.child_frame_id = "laser_odom";

Do I keep it as camera init to laser odom? Without changing this, I seems to be always getting error Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist when launching go2 localization launch.

Side note, I will have another B2-W robot tomorrow which I will be testing with, from documentation of B2-W I should be able to get odom directly from robot.

[tsengapola]

@zheyisoo no need to modify the source code, it should create tf and everything correctly. Your tf frame should now be look like: map->lego_loam_map_laser_odom->base_link->laser_link

[zheyisoo]

Thank you very much and this has been resolved.

[hitersyw]

Thank you very much and this has been resolved.

May I ask if you have successfully deployed on GO2W