New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

LIO-SAM brakes tf tree #519

Open

ZhongmouLi opened this issue Nov 22, 2024 · 0 comments

ZhongmouLi commented Nov 22, 2024

I run lio_sam in ros2 humble simulation, and I find lio_sam always brakes tf tree of robot.

Lets say I have a simple robot with a tf tree being

After running lio_sam, I get a new tf tree

and robot in Rviz

This is because LIO-SAM always pubs tf transform between odom and lidar, even they are not connected.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment