Publish map in odom_lidar frame #417
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benemer
requested review from
nachovizzo and
tizianoGuadagnino
as code owners
tizianoGuadagnino
changed the base branch from
main
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benedikt/remove_unused_utils
tizianoGuadagnino
changed the base branch from
benedikt/remove_unused_utils
to
main
tizianoGuadagnino
approved these changes
Jan 6, 2025
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When publishing the point clouds for visualization, for each LiDAR frame, we unnecessarily transform the local map points to the sensor frame to publish it with the same frame as the LiDAR frame. This PR avoids the transformation by directly publishing the local map points in their
frame_id.We already discussed this in #285. After #371, in which we added the
odom_lidarto the tf tree, we can now easily publish the local map at thisframe_id(assuming thatpublish_odom_tfis set totrue). Ifpublish_odom_tfisfalse, we will now see both the estimated trajectory and the local map because both are published inodom_lidar, which is the default fixed frame in rviz.This is also how we currently do it in Kinematic-ICP.