Other 3D LIDAR compatibility with this repository about lidarslam_ros2 HOT 7 CLOSED

This package can be used with any rotating 3d lidar other than velodyne. I have also tested this package on robosense and ouster lidar. I don't know about the solid state lidar as I haven't tried it.

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Thank you for your information.
Just for information:It seems my LIDAR contains motor and it is rotating.
I am able to set its rotating frequency in hertz also.

I want to use this repo and I have some queries:

1. How to integrate any rotating LIDAR to this repository?
   What things we need to do for this?

Can you please give operational steps to be performed in order to achieve SLAM?

Thanks

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Change the following launch and use it.

Change /velodyne_points in the following to the name of the pointcloud2 type message that the ouster driver publishes.
remappings=[('/input_cloud','/velodyne_points')],
https://github.com/rsasaki0109/lidarslam_ros2/blob/foxy/lidarslam/launch/lidarslam.launch.py#L21

Then change /velodyne to the frame id of the pointcloud2 type message name that the ouster driver publishes
arguments=['0','0','0','0','0','0','1','base_link','velodyne']
https://github.com/rsasaki0109/lidarslam_ros2/blob/foxy/lidarslam/launch/lidarslam.launch.py#L28

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Thank you for your answer.I will try this.

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Hi Sasaki san

I want to use odometry and I am using odom parameter true but getting lookuptransform error as
[scanmatcher_node-1] [INFO] [1618293549.877689313] [scan_matcher]: Inside try of use_odom_ odom_frame_id= odom,robot_frame_id =base_link
[scanmatcher_node-1] [INFO] [1618293549.877777252] [scan_matcher]: Inside catch of use_odom_ true
[scanmatcher_node-1] [ERROR] [1618293549.877993974] [scan_matcher]: "odom" passed to lookupTransform argument target_frame does not exist.

My Lidar driver is written in ROS1 and currently I am using ros1_bridge to use topics of ROS1 in ROS2 .
Here to use odometer, TF tree should be like
map---->odom---->base_link------->lidar_frame.
But actually in rviz2 I am getting TF tree as
map------->base_link------->lidar_frame.

Please suggest what should be done in this case.

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Sorry for the delay but I will respond.
I'm a little unclear. It appears to be a tf issue, not lidarslam_ros2
It's a tf issue so I think it's better to ask at ros answers.
https://answers.ros.org/questions/

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I will close this issue at once. Please contact me if you have any further problems.

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