Use diffirent sensor like Ouster or etc

[Mustafa19077]

Hi rsasaki, I have a problem. Localization is fine when ı used hdl_400 bag file. But there is a problem when ı use ouster lidar and ouster bag file. I have same issue with lidarslam_ros2 but ı have solved this issue by changing "base_link" to "os_lidar" (inside params) , and "velodyne" to "os_lidar", "velodyne_points" to "ouster/points".
with lidar_localizaiton, ı make the same change but didnt work this time. This is the general information about my problem.
I want to ask what kind of change that ı should when ı use different sensor like ouster.
ROS2 Humble and ubuntu 22.04

[youweik2]

Have you solved this issue? I’d appreciate it if you could share your solution.

[rsasaki0109]

I think I talked with him via email or DM, and I heard it was resolved, but I don’t think I heard what the solution was.

[Mustafa19077]

Hello, I solved this problem. Here is how ı did this.
Lidars topic is ouster/points. But in localization settings, it is velodyne/points or like that. When ı changed the as ouster/points it didnt resolved it. So, I write a python function that converts the topic. You write a python code that subcsribes that ouster/points and publish as velodyne/points. After this step you tje locallization will work. I tried both slam and localitioz library in my real car, it perfectly works. I hope this solution helps you.

İf you have any problem about slam or localization please let me know.

[youweik2]

Hello, I solved this problem. Here is how ı did this. Lidars topic is ouster/points. But in localization settings, it is velodyne/points or like that. When ı changed the as ouster/points it didnt resolved it. So, I write a python function that converts the topic. You write a python code that subcsribes that ouster/points and publish as velodyne/points. After this step you tje locallization will work. I tried both slam and localitioz library in my real car, it perfectly works. I hope this solution helps you.

İf you have any problem about slam or localization please let me know.

It works, thank you so much!

[csd-sudo]

@youweik2 Why not directly modify the name of the topic that accepts radar data in the code? Will this affect the performance?