Re: Hesai QT128 with Zed2i and external fused Odometry

Posted by aninath93 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9651.html

Hi Mathieu,

Can this be a issue, different timeclocks of ROS and LIDAR ? As upon further investigating in rviz2 I found PointCloud2 topic cannot be subscribed in fixed frame of "odom" which is what I feel lidar_deskewing is complaining about but in base_link frame I can see the data, but also in rqt tree I do not see any data not linked even in odom frame. If you can shed any light on this in your experience I will appreciate it.

Thanks
Ani