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-tp9512p9654.html

Hi Mathieu,

I am just going to continue here and close the GITHUB issue topic, but as you mentioned I tried ICP odometry this time with another LIDAR on bench Ouster OS0-32, and it worked and I noted down the timestamps field how they are supposed to be by adding to the log, currently trying to debug hesai lidar to make that work.

But even with Ouster I had "Deskewing Failed message, outputting possible skewed cloud from Lidar_deskewing node but ICP odometry worked so far merging with wheel + imu guess frame. Any thoughts on that  ?

So I did look into SDK for Hesai and looks like the message set in ros side is float64 and getting converted to uint32_t, so I made the changes appropriately in the MsgConversion file attached but I get now first and last scan timestamp are same. Also I did tried putting print function in the "timeOnColumns" function but the code never reaches that point, keeps looping in timestamp side. Any input on this will be appreciated while I keep looking into SDK !





Thanks
Ani