Hi,
in your previous work FASTLIO and FASLIO2 there was a ROS topic /Laser_map where whole registered pointcloud was published. Now I can see that in LIVmapper.cpp there is a publisher for that topic but it is never used. Why is that and how can I make the publishing myself maybe?
Also regarding the same topic, in FASTLIO2 which I have used, I have noticed that /Laser_map topic always adds all points from a frame. So what happens is that when LiDAR is standing still, the number of points in /Laser_map topic is still accumulating. Meaning that the same physical points are registered multiple times. Can that be fixed?
Hi,
in your previous work FASTLIO and FASLIO2 there was a ROS topic /Laser_map where whole registered pointcloud was published. Now I can see that in LIVmapper.cpp there is a publisher for that topic but it is never used. Why is that and how can I make the publishing myself maybe?
Also regarding the same topic, in FASTLIO2 which I have used, I have noticed that /Laser_map topic always adds all points from a frame. So what happens is that when LiDAR is standing still, the number of points in /Laser_map topic is still accumulating. Meaning that the same physical points are registered multiple times. Can that be fixed?