Example files do not work like the videos in README

[DEPhantom]

Hello kostaskonkk,

I was interested in your package
But after installing and running it according to the README
I found out that it doesn't work
I have run "roslaunch ydlidar lidar.launch"

And,
I ran "roslaunch datmo example.launch bag:=overtakes"
the attach file is :

example frames (1).pdf

I ran " roslaunch datmo datmo.launch "
the attach file is :

datmo frames (1).pdf

my OS is Ubuntu 18.04, ROS version is Melodic.

Thank you,
DEPhantom

[kostaskonkk]

Hi @DEPhantom, thanks a lot for trying out my package and for the detailed description of your problem.
I believe that the problem is caused because you are running roslaunch ydlidar lidar.launch in addition to roslaunch datmo example.launch bag:=overtakes.
The latter publishes lidar messages from a prerecorded ROS bag file and should be used by itself.
Can you try running only roslaunch datmo example.launch bag:=overtakes? The output should much the one displayed in the README.
After we confirm that roslaunch datmo example.launch bag:=overtakes, works properly in your computer you can try running:

1. roslaunch datmo datmo.launch
2. and the nodes for your LIDAR roslaunch ydlidar lidar.launch

[DEPhantom]

Hello @kostaskonkk ,
I successfully run roslaunch datmo example.launch bag:=overtakes without running roslaunch ydlidar lidar.launch.
It works like your demo video.
like this:

And I run roslaunch datmo datmo.launch
like this

It's frame is
frames.pdf

And I open rviz and add topic "MakerArray"
It occur error
rviz error:

datmo error:

This time I didn't run roslaunch ydlidar lidar.launch
If I run it, it will get same error.

So, I want to get the arrow like video, how should I do ?

Thank you,
DEPhantom

[kostaskonkk]

I believe that the issue stems from the fact that you are not publishing any transformation frames between the lidar and the world coordinate, as indicated by the empty frames.pdf that you have attached.
I suggest that you take a close look at the tf tutorials and hopefully they will help you understand which transformations you need to publish.