Question: LiDAR-SLAM(ROS2) fails to create point cloud map

[sfukuta]

The Autoware documentation says to use LiDAR-SLAM(ROS2) to create a point cloud map.

But I don't know how to use the LiDAR-SLAM(ROS2).
As a result of executing the command referring to Readme.md of LiDAR-SLAM(ROS2),
Created with a file without point cloud information.

Execute command:

1. rviz2 -d <rviz config file>
2. ros2 launch lidarslam lidarslam.launch.py
3. ros2 bag play -s <rosbag file>

[sfukuta]

I was able to create the point cloud map.

The cause is that the LiDAR-SLAM (ROS2) input topic /velodyne points was not in the rosbag file.
I needed to relay the point cloud information topic in the rosbag file to the topic used by LiDAR-SLAM (ROS2).

To relay, run the following command.
ros2 run topic_tools relay <input topic> <output topic>

execute command:
ros2 run topic_tools relay /sensing/lidar/concatenated/pointcloud /velodyne_points

[gurselturkeri]

How can I reach you? I work on that topic and I have some question.

[sfukuta]

If you have a question, could you create a discussion in the Q&A category?