ubuntu20.04使用sc_lego_loam跑自己的数据包不显示地图和轨迹，只能看到坐标系移动问题解决

eero00

已于 2023-08-11 11:39:16 修改

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文章标签：笔记

于 2023-05-29 15:49:35 首次发布

原文链接：https://blog.csdn.net/HUASHUDEYANJING/article/details/121107774

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原因：ubuntu20.04的rostopic格式更加严格，之前版本/rostopic和rostopic发出消息均是/rostopic。ubuntu20.04/rostopic发出消息是//rostopic。

解决：在mapOptmization.cpp文件中将以下代码中的/camera_init更改为camera_init，去除 / 符号

    void publishKeyPosesAndFrames(){
 
        if (pubKeyPoses.getNumSubscribers() != 0){
            sensor_msgs::PointCloud2 cloudMsgTemp;
            pcl::toROSMsg(*cloudKeyPoses3D, cloudMsgTemp);
            cloudMsgTemp.header.stamp = ros::Time().fromSec(timeLaserOdometry);
            cloudMsgTemp.header.frame_id = "/camera_init";
            pubKeyPoses.publish(cloudMsgTemp);
        }
 
        if (pubRecentKeyFrames.getNumSubscribers() != 0){
            sensor_msgs::PointCloud2 cloudMsgTemp;
            pcl::toROSMsg(*laserCloudSurfFromMapDS, cloudMsgTemp);
            cloudMsgTemp.header.stamp = ros::Time().fromSec(timeLaserOdometry);
            cloudMsgTemp.header.frame_id = "/camera_init";
            pubRecentKeyFrames.publish(cloudMsgTemp);
        }
 
        if (pubRegisteredCloud.getNumSubscribers() != 0){
            pcl::PointCloud<PointType>::Ptr cloudOut(new pcl::PointCloud<PointType>());
            PointTypePose thisPose6D = trans2PointTypePose(transformTobeMapped);
            *cloudOut += *transformPointCloud(laserCloudCornerLastDS,  &thisPose6D);
            *cloudOut += *transformPointCloud(laserCloudSurfTotalLast, &thisPose6D);
            
            sensor_msgs::PointCloud2 cloudMsgTemp;
            pcl::toROSMsg(*cloudOut, cloudMsgTemp);
            cloudMsgTemp.header.stamp = ros::Time().fromSec(timeLaserOdometry);
            cloudMsgTemp.header.frame_id = "/camera_init";
            pubRegisteredCloud.publish(cloudMsgTemp);
        } 
    }

引用：https://blog.csdn.net/HUASHUDEYANJING/article/details/121107774