1
$\begingroup$

I recently purchased the LIDAR LD19. I managed to configure it and it is working fine, presenting the data in the RVIZ (LaserScan).

The LIDAR node is configured as described at: https://github.com/Myzhar/ldrobot-lidar-ros2/. Below I have a photo of the LIDAR LD19 presenting the Laserscan on the Rviz.

LIDAR LD19 presenting the Laserscan on the Rviz

My question is: I would like to make a SLAM process and for that I am using the slam_toolbox framework (ROS2 Humble). I set up slam_toolbox following a tutorial and apparently managed to subscribe to the /ldlidar_node/scan thread. As shown in the image below.

Photo of terminal output

To configure slam_toolbox I used the yaml file described at: https://github.com/SteveMacenski/slam_toolbox/blob/ros2/launch/online_async_launch.py

I opened RVIZ2, activated the map. I added the map topic, but I can't generate the map (SLAM) at all. The funny thing is that apparently ldlidar_node is being processed by slam_toolbox (you can see in the terminal that it is subscribed to the topic). But the map is not generated.

Could you let me know if LD-19 Lidar is compatible with ROS2 slam_toolbox? Is there any other framework, compatible, that I can generate the SLAM?

$\endgroup$
1
  • 1
    $\begingroup$ Instead of a blurry photo of terminal output, it is better to paste the actual text of the terminal output in to your question, and use the code formatting. Photos are not text-searchable. $\endgroup$ Jul 15 at 18:35

1 Answer 1

1
$\begingroup$

I haven't used the slam_toolbox recently but it is probably something with your TF-Tree. You can see the tree in rqt and then open the tf tree plugin under visualization, I think.

There should be an odom link with an arrow to base_link. If not you haven't configured your odometry correctly. I think you can also configure the slam_toolbox to publish the map to base_link transform directly. But this is not recommended. See REP 105.

Just searching for the message in your terminal:

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge that you have read and understand our privacy policy and code of conduct.

Not the answer you're looking for? Browse other questions tagged or ask your own question.