From b8cf132e94daf350de6cbb1f15b7a0079a9ae189 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Fri, 24 Jan 2025 01:55:58 +0100 Subject: [PATCH] Docs: prefer generate_simplemap ros2 launch argument --- docs/source/tutorial-mola-lo-map-and-localize.rst | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/docs/source/tutorial-mola-lo-map-and-localize.rst b/docs/source/tutorial-mola-lo-map-and-localize.rst index fea74b6..04a968f 100644 --- a/docs/source/tutorial-mola-lo-map-and-localize.rst +++ b/docs/source/tutorial-mola-lo-map-and-localize.rst @@ -53,6 +53,11 @@ Open **three terminals**, and run these commands in each one: do_fake_localization:=False \ use_rviz:=False + **Note:** If you choose to enable RViz at this point instead (``use_rviz:=True``), it + will start emitting warnings about "Message filter dropping message", and LiDAR + will not be visible in its GUI. It's OK. That is because we still did not launch MOLA-LO + and `tf` is missing the transform `map -> odom`. + .. tab-item:: #2: MOLA-LO @@ -60,9 +65,9 @@ Open **three terminals**, and run these commands in each one: .. code-block:: bash - MOLA_GENERATE_SIMPLEMAP=true \ ros2 launch mola_lidar_odometry ros2-lidar-odometry.launch.py \ - lidar_topic_name:=/lidar1_points + lidar_topic_name:=/lidar1_points \ + generate_simplemap:=True .. note::