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We sometimes succeeded and sometimes failed to do approximate-ndt-mapping provided with Autoware (v1.13), which depends on the shape of the course we wanted to map out and etc. Instead of mapping only with the lidar topic (/points_raw), we tried to add the odom topic (/vehicle/odom) to it so we're expecting we could make it more often. However, we didn't make it as shown in this video - https://youtu.be/491T8yIHqP4. I'm wondering what I was wrong. Any piece of advice will be appreciated. Thank you :)


Originally posted by wsung1 on ROS Answers with karma: 11 on 2020-06-10

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@wsung1 Please make sure you are setting use_odom to true in the ndt_matching.launch file and you have something publishing your odometry on the topic /vehicle/odom as a sensor_msgs/Odometry message. If you need to convert sensor_msgs/TwistStamped to an (incomplete) sensor_msgs/Odometry, there is a utility package called twist2odom for this purpose.


Originally posted by Josh Whitley with karma: 1766 on 2020-06-11

This answer was ACCEPTED on the original site

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Original comments

Comment by Josh Whitley on 2020-06-13:
@wsung1 this was a typo. Should be nav_msgs/Odometry.

Comment by wsung1 on 2020-06-13:
Thanks for your reply, @Josh Whitley. As can be seen in the video, the odom topic /vehicle/odom has a rosmsg type of nav_msgs/Odometry. Should it be sensor_msgs/Odometry? I couldn't find a rosmsg by that name, though.

Comment by wsung1 on 2020-06-13:
@Josh Whitley, I'm wondering why small submap files (hundreds kB) are spawned when starting approximate-ndt-mapping with setting use_odom to true. Do you have any idea about that?

Comment by Josh Whitley on 2020-06-16:
This is a separate question and should be started in a new Question on ROS Answers. Were you able to get NDT to accept the /vehicle/odom topic?

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