其总说明link
(1)激光雷达odom与里程计odom共用tf就重了,只用激光雷达odom,把lego_loam整个建图map->base_link都视为激光雷达odom
(2)即配置localization坐标系时
map_frame: map_localization
odom_frame: map
base_link_frame: base_link
world_frame: map_localization
(3)lego_loam与localization要匹配,发布tf的频率与tf包
frequency: 10 #20
lego_loam的launch:
<node pkg="tf2_ros" type="static_transform_publisher" name="camera_init_to_map" args="0 0 0 1.570795 0 1.570795 map camera_init" />
都用10HZ,都用tf2_ros