final version used for iros paper

JanQuenzel · Jul 28, 2021 · 5f592a2 · 5f592a2
1 parent 9fdb2ca
commit 5f592a2
Show file tree

Hide file tree

Showing 13 changed files with 373 additions and 46 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
   std_msgs
   tf
   eigen_conversions
+  message_filters
 )
 
 find_package(Eigen3)
@@ -48,7 +49,7 @@ link_directories(
 
 catkin_package(
   CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
-  DEPENDS EIGEN3 PCL Ceres 
+  DEPENDS EIGEN3 PCL CERES 
   INCLUDE_DIRS include
 )
 
@@ -62,4 +63,3 @@ target_link_libraries(floam_odom_estimation_node ${EIGEN3_LIBRARIES} ${catkin_LI
 
 add_executable(floam_laser_mapping_node src/laserMappingNode.cpp src/laserMappingClass.cpp src/lidar.cpp)
 target_link_libraries(floam_laser_mapping_node ${EIGEN3_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})
-
diff --git a/launch/floam.launch b/launch/floam.launch
@@ -1,8 +1,7 @@
 <?xml version="1.0"?>
 <launch>
 
-
-    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock $(env HOME)/Downloads/2011_09_30_0018.bag"/> 
+    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock $(env HOME)/to_store/bag_mbzirc8_2020-11-12-17-29-29.bag"/>
 
     <!-- For Velodyne VLP-16 
     <param name="scan_line" value="16" />
@@ -12,12 +11,16 @@
     <param name="scan_line" value="32" />
     -->
 
-    <!-- For Velodyne HDL-64 -->
+    <!-- For Velodyne HDL-64 
     <param name="scan_line" value="64" />
+    -->
+
+    <param name="scan_line" value="128" />
 
 
     <!--- Sim Time -->
     <param name="/use_sim_time" value="true" />
+    <param name="scan_topic" value="/os_cloud_node/points" /> 
     <param name="scan_period" value="0.1" /> 
     <param name="vertical_angle" type="double" value="2.0" />
     <param name="max_dis" type="double" value="90.0" />

diff --git a/launch/floam_mapping.launch b/launch/floam_mapping.launch
@@ -1,9 +1,8 @@
 <?xml version="1.0"?>
 <launch>
 
-
-    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 0.5 $(env HOME)/Downloads/2011_09_30_0018.bag"/> 
-
+    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /home/jquenzel/Downloads/2011_09_30_0018.bag"/>
+
     <!-- For Velodyne VLP-16 
     <param name="scan_line" value="16" />
     -->
@@ -15,10 +14,14 @@
     <!-- For Velodyne HDL-64 -->
     <param name="scan_line" value="64" />
 
+    <!-- For Ouster OS-0
+    <param name="scan_line" value="128" />
+    -->
     <!--- Sim Time -->
     <param name="/use_sim_time" value="true" />
     <param name="scan_period" value="0.1" />
 
+    <param name="scan_topic" value="velodyne_points" />
     <param name="vertical_angle" type="double" value="2.0" />
     <param name="max_dis" type="double" value="90.0" />
     <param name="map_resolution" type="double" value="0.4" />
@@ -30,7 +33,7 @@
 
     <node pkg="tf" type="static_transform_publisher" name="word2map_tf"  args="0 0 0 0 0 0 /world /map 10" />
 
-    <arg name="rviz" default="true" />
+    <arg name="rviz" default="false" />
     <group if="$(arg rviz)">
         <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find floam)/rviz/floam_mapping.rviz" />
     </group>

diff --git a/launch/floam_mapping_hdl32.launch b/launch/floam_mapping_hdl32.launch
@@ -0,0 +1,64 @@
+<?xml version="1.0"?>
+<launch>
+
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange/ul_hk/20190331_HH_lidar.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange/ul_hk/20190331_NJ_LL_lidar.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange/ul_hk/20190331_NJ_SL_lidar.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange/ul_hk/20190331_WH_lidar.bag"/>-->
+    <!--<param name="scan_topic" value="/velodyne_points" />-->
+
+    <param name="scan_topic" value="/velodyne_points_0" />
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange/ul_hk/test2.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange/ul_hk/test3.bag"/>-->
+    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange/ul_hk/urban_loco_hk_5.bag"/>
+
+
+    <!-- For Velodyne VLP-16 
+    <param name="scan_line" value="16" />
+    -->
+
+    <!-- For Velodyne HDL-32 -->
+    <param name="scan_line" value="32" />
+
+    <!-- For Velodyne HDL-64 
+    <param name="scan_line" value="64" />
+    -->
+
+    <!-- For Ouster OS-0 -->
+    <!--param name="scan_line" value="128" /-->
+
+    <!--- Sim Time -->
+    <param name="/use_sim_time" value="true" />
+    <param name="scan_period" value="0.1" />
+
+    <param name="vertical_angle" type="double" value="2.0" />
+    <param name="max_dis" type="double" value="100.0" />
+    <param name="map_resolution" type="double" value="0.4" />
+    <param name="min_dis" type="double" value="1.0" />
+    <!--- -->
+    <node pkg="floam" type="floam_odom_estimation_node" name="floam_odom_estimation_node" output="screen"/>
+    <node pkg="floam" type="floam_laser_processing_node" name="floam_laser_processing_node" output="screen"/>
+    <node pkg="floam" type="floam_laser_mapping_node" name="floam_laser_mapping_node" output="screen"/>
+
+    <node pkg="tf" type="static_transform_publisher" name="word2map_tf"  args="0 0 0 0 0 0 /world /map 10" />
+
+    <arg name="rviz" default="true" />
+    <group if="$(arg rviz)">
+        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find floam)/rviz/floam_mapping.rviz" />
+    </group>
+
+
+  	<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="gt" >
+        <param name="/target_frame_name" value="world" />
+        <param name="/source_frame_name" value="velodyne" />
+        <param name="/trajectory_update_rate" value="10.0" />
+        <param name="/trajectory_publish_rate" value="10.0" />
+    </node>
+    <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="base_link" >
+        <param name="/target_frame_name" value="world" />
+        <param name="/source_frame_name" value="base_link" />
+        <param name="/trajectory_update_rate" value="10.0" />
+        <param name="/trajectory_publish_rate" value="10.0" />
+    </node>
+
+</launch>
diff --git a/launch/floam_mapping_os0.launch b/launch/floam_mapping_os0.launch
@@ -0,0 +1,67 @@
+<?xml version="1.0"?>
+<launch>
+
+    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/2020_11_12_DRZ/bag_mbzirc8_2020-11-12-17-25-36.bag /media/jquenzel/CopterExchange/bag_mbzirc8_2020-11-12-17-25-36_comp.bag"/>
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/2020_11_12_DRZ/bag_mbzirc8_2020-11-12-17-29-29.bag /media/jquenzel/CopterExchange/bag_mbzirc8_2020-11-12-17-29-29_comp.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/2021_06_21_mocap/bag_mbzirc8_2021-06-21-13-45-56.bag /media/jquenzel/CopterExchange/bag_mbzirc8_2021-06-21-13-45-56_comp.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/2021_06_21_mocap/bag_mbzirc8_2021-06-21-14-16-34.bag /media/jquenzel/CopterExchange/bag_mbzirc8_2021-06-21-14-16-34_comp.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/2021_06_21_mocap/bag_mbzirc8_2021-06-21-14-28-50.bag /media/jquenzel/CopterExchange/bag_mbzirc8_2021-06-21-14-28-50_comp.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/2021_06_21_mocap/bag_mbzirc8_2021-06-21-14-31-11.bag /media/jquenzel/CopterExchange/bag_mbzirc8_2021-06-21-14-31-11_comp.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/2021_06_21_mocap/bag_mbzirc8_2021-06-21-14-32-45.bag /media/jquenzel/CopterExchange/bag_mbzirc8_2021-06-21-14-32-45_comp.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/2021_06_21_mocap/bag_mbzirc8_2021-06-21-14-47-42.bag /media/jquenzel/CopterExchange/bag_mbzirc8_2021-06-21-14-47-42_comp.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/2021_06_21_mocap/bag_mbzirc8_2021-06-21-14-49-33.bag /media/jquenzel/CopterExchange/bag_mbzirc8_2021-06-21-14-49-33_comp.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/2021_06_21_mocap/bag_mbzirc8_2021-06-21-14-52-55.bag /media/jquenzel/CopterExchange/bag_mbzirc8_2021-06-21-14-52-55_comp.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/2021_06_21_mocap/bag_mbzirc8_2021-06-21-14-55-27.bag /media/jquenzel/CopterExchange/bag_mbzirc8_2021-06-21-14-55-27_comp.bag"/>-->
+
+    <!-- For Velodyne VLP-16 
+    <param name="scan_line" value="16" />
+    -->
+
+    <!-- For Velodyne HDL-32 
+    <param name="scan_line" value="32" />
+    -->
+
+    <!-- For Velodyne HDL-64 
+    <param name="scan_line" value="64" />
+    -->
+
+    <!-- For Ouster OS-0 -->
+    <param name="scan_line" value="128" />
+
+    <!--- Sim Time -->
+    <param name="/use_sim_time" value="true" />
+    <param name="scan_period" value="0.1" />
+
+    <!--<param name="scan_topic" value="/os_cloud_node/points" />-->
+    <param name="scan_topic" value="/os_cloud_node/points_compensated" />
+    <param name="vertical_angle" type="double" value="2.0" />
+    <param name="max_dis" type="double" value="50.0" />
+    <param name="map_resolution" type="double" value="0.4" />
+    <param name="min_dis" type="double" value="1.0" />
+    <!--- -->
+    <node pkg="floam" type="floam_odom_estimation_node" name="floam_odom_estimation_node" output="screen"/>
+    <node pkg="floam" type="floam_laser_processing_node" name="floam_laser_processing_node" output="screen"/>
+    <!--<node pkg="floam" type="floam_laser_mapping_node" name="floam_laser_mapping_node" output="screen"/>-->
+
+    <node pkg="tf" type="static_transform_publisher" name="word2map_tf"  args="0 0 0 0 0 0 /world /map 10" />
+
+    <arg name="rviz" default="false" />
+    <group if="$(arg rviz)">
+        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find floam)/rviz/floam_mapping.rviz" />
+    </group>
+
+
+  	<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="gt" >
+        <param name="/target_frame_name" value="world" />
+        <param name="/source_frame_name" value="velodyne" />
+        <param name="/trajectory_update_rate" value="10.0" />
+        <param name="/trajectory_publish_rate" value="10.0" />
+    </node>
+    <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="base_link" >
+        <param name="/target_frame_name" value="world" />
+        <param name="/source_frame_name" value="base_link" />
+        <param name="/trajectory_update_rate" value="10.0" />
+        <param name="/trajectory_publish_rate" value="10.0" />
+    </node>
+
+</launch>
diff --git a/launch/floam_mapping_os64.launch b/launch/floam_mapping_os64.launch
@@ -0,0 +1,78 @@
+<?xml version="1.0"?>
+<launch>
+
+    <!--node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/01_short/01_short.bag"/--> 
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/05_quad_with_dynamics/05_quad_with_dynamics.bag"/> -->
+    <!--
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/01_short/01_short_0c.bag"/>
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/01_short/01_short_1c.bag"/> 
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/01_short/01_short_2c.bag"/>
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/01_short/01_short_3c.bag"/>
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/01_short/01_short_4c.bag"/>
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/01_short/01_short_5c.bag"/>
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/01_short/01_short_6c.bag"/>
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/01_short/01_short_7c.bag"/> 
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/01_short/01_short_8c.bag"/>
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/01_short/01_short_9c.bag"/>-->
+
+    <!--
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/05_quad_with_dynamics/05_quad_with_dynamics_0.bag"/>
+    <node pkg="rosbag" type="play" name="rosbag_play" args="-clock -r 1 /home/jquenzel/to_store/newer_college/05_quad_with_dynamics/05_quad_with_dynamics_1.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /home/jquenzel/to_store/newer_college/05_quad_with_dynamics/05_quad_with_dynamics_2.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/newer_college/05_quad_with_dynamics/05_quad_with_dynamics_tf.bag"/>-->
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/newer_college/01_short/01_short.bag"/>-->
+    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/newer_college/02_long/02_long.bag"/>
+
+
+
+    <!-- For Velodyne VLP-16 
+    <param name="scan_line" value="16" />
+    -->
+
+    <!-- For Velodyne HDL-32 
+    <param name="scan_line" value="32" />
+    -->
+
+    <!-- For Velodyne HDL-64 
+    -->
+    <param name="scan_line" value="64" />
+
+    <!-- For Ouster OS-0 -->
+    <!--param name="scan_line" value="128" /-->
+
+    <!--- Sim Time -->
+    <param name="/use_sim_time" value="true" />
+    <param name="scan_period" value="0.1" />
+
+    <param name="scan_topic" value="/os1_cloud_node/points" />
+    <param name="vertical_angle" type="double" value="0.7" />
+    <param name="max_dis" type="double" value="120.0" />
+    <param name="map_resolution" type="double" value="0.5" />
+    <param name="min_dis" type="double" value="1.0" />
+    <!--- -->
+    <node pkg="floam" type="floam_odom_estimation_node" name="floam_odom_estimation_node" output="screen"/>
+    <node pkg="floam" type="floam_laser_processing_node" name="floam_laser_processing_node" output="screen"/>
+    <!--<node pkg="floam" type="floam_laser_mapping_node" name="floam_laser_mapping_node" output="screen"/>-->
+
+    <node pkg="tf" type="static_transform_publisher" name="word2map_tf"  args="0 0 0 0 0 0 /world /map 10" />
+
+    <arg name="rviz" default="true" />
+    <group if="$(arg rviz)">
+        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find floam)/rviz/floam_mapping.rviz" />
+    </group>
+
+
+  	<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="gt" >
+        <param name="/target_frame_name" value="world" />
+        <param name="/source_frame_name" value="velodyne" />
+        <param name="/trajectory_update_rate" value="10.0" />
+        <param name="/trajectory_publish_rate" value="10.0" />
+    </node>
+    <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="base_link" >
+        <param name="/target_frame_name" value="world" />
+        <param name="/source_frame_name" value="base_link" />
+        <param name="/trajectory_update_rate" value="10.0" />
+        <param name="/trajectory_publish_rate" value="10.0" />
+    </node>
+
+</launch>
diff --git a/launch/floam_mapping_rs32.launch b/launch/floam_mapping_rs32.launch
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<launch>
+
+
+    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/urban_loco/CA-20190828184706_blur_align_lidar.bag"/>
+    <!--<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/jquenzel/CopterExchange_1/urban_loco/CA-20190828190411_blur_align_lidar.bag"/>-->
+
+
+
+    <!-- For Velodyne VLP-16 
+    <param name="scan_line" value="16" />
+    -->
+
+    <!-- For Velodyne HDL-32 -->
+    <param name="scan_line" value="32" />
+
+    <!-- For Velodyne HDL-64 
+    <param name="scan_line" value="64" />
+    -->
+
+    <!-- For Ouster OS-0 -->
+    <!--param name="scan_line" value="128" /-->
+
+    <!--- Sim Time -->
+    <param name="/use_sim_time" value="true" />
+    <param name="scan_period" value="0.1" />
+
+    <param name="scan_topic" value="/rslidar_points" />
+    <param name="vertical_angle" type="double" value="2.0" />
+    <param name="max_dis" type="double" value="100.0" />
+    <param name="map_resolution" type="double" value="0.4" />
+    <param name="min_dis" type="double" value="1.0" />
+    <!--- -->
+    <node pkg="floam" type="floam_odom_estimation_node" name="floam_odom_estimation_node" output="screen"/>
+    <node pkg="floam" type="floam_laser_processing_node" name="floam_laser_processing_node" output="screen"/>
+    <node pkg="floam" type="floam_laser_mapping_node" name="floam_laser_mapping_node" output="screen"/>
+
+    <node pkg="tf" type="static_transform_publisher" name="word2map_tf"  args="0 0 0 0 0 0 /world /map 10" />
+
+    <arg name="rviz" default="true" />
+    <group if="$(arg rviz)">
+        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find floam)/rviz/floam_mapping.rviz" />
+    </group>
+
+
+  	<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="gt" >
+        <param name="/target_frame_name" value="world" />
+        <param name="/source_frame_name" value="velodyne" />
+        <param name="/trajectory_update_rate" value="10.0" />
+        <param name="/trajectory_publish_rate" value="10.0" />
+    </node>
+    <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="base_link" >
+        <param name="/target_frame_name" value="world" />
+        <param name="/source_frame_name" value="base_link" />
+        <param name="/trajectory_update_rate" value="10.0" />
+        <param name="/trajectory_publish_rate" value="10.0" />
+    </node>
+
+</launch>
diff --git a/package.xml b/package.xml
@@ -23,6 +23,7 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>eigen_conversions</build_depend>
+  <build_depend>message_filters</build_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>nav_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
@@ -32,6 +33,7 @@
   <run_depend>rosbag</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>eigen_conversions</run_depend>
+  <run_depend>message_filters</run_depend>
 
   <export>
   </export>

diff --git a/src/laserMappingNode.cpp b/src/laserMappingNode.cpp
@@ -125,10 +125,10 @@ int main(int argc, char **argv)
     lidar_param.setMinDistance(min_dis);
 
     laserMapping.init(map_resolution);
-    ros::Subscriber subLaserCloud = nh.subscribe<sensor_msgs::PointCloud2>("/velodyne_points_filtered", 100, velodyneHandler);
-    ros::Subscriber subOdometry = nh.subscribe<nav_msgs::Odometry>("/odom", 100, odomCallback);
+    ros::Subscriber subLaserCloud = nh.subscribe<sensor_msgs::PointCloud2>("/velodyne_points_filtered", 1, velodyneHandler);
+    ros::Subscriber subOdometry = nh.subscribe<nav_msgs::Odometry>("/odom", 1, odomCallback);
 
-    map_pub = nh.advertise<sensor_msgs::PointCloud2>("/map", 100);
+    map_pub = nh.advertise<sensor_msgs::PointCloud2>("/map", 1);
     std::thread laser_mapping_process{laser_mapping};
 
     ros::spin();