Running CT-ICP with other Datasets on ROS

[cigdemkknz]

Hello authors, great work!

I was hoping to run it on this KITTI city dataset (https://www.cvlibs.net/datasets/kitti/raw_data.php -urban driving) and my own dataset collected with Velodyne 32C (outdoor mobile robot) using ROS. I have made the attached config files for running these two datasets. The KITTI one is based on "driving_config.yaml" and mine is based on "nclt_config.yaml". Since there are no timestamps on these data, and CONSTANT_VELOCITY and ITERATIVE values gives errors, I use the "SIMPLE" parametrization.

Both datasets quits after a short while with the following terminal error.

---

QObject::connect: Cannot queue arguments of type 'QVector'7.858233 6497.65
(Make sure 'QVector' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector'
(Make sure 'QVector' is registered using qRegisterMetaType().)
Error in ego-motion distance !65.885353 Duration: 1.567941 / 7.858233
[ct_icp_odometry_node-3] process has finished cleanly.762894 / 7.858233

Any guidance on how to solve these issues and what parameters I should use would be greatly appreciated!

Great work!

yaml_files.zip

[Tianci-Wen]

same problem! Have you solved it yet? Thanks!

[tmddn833]

Change the motion_compensation to ITERATIVE in config file. It works for me.
motion_compensation: ITERATIVE # The profile of the motion compensation (NONE, CONSTANT_VELOCITY, ITERATIVE, CONTINUOUS)