Dot no see /Laser_scan final global map

[vstadnytskyi]

Hi All,

I am super excited someone created ROS2 version of point_lio_ros2! Thank you. I appreciate you work @dfloreaa

Here is how I start point_lio

# ros2 launch point_lio mapping_unilidar_l2_no_rviz.launch.py

and output

[INFO] [launch]: All log files can be found below /root/.ros/log/2025-10-08-16-08-09-042337-70be0e0f45b2-13094
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [pointlio_mapping-1]: process started with pid [13095]
[pointlio_mapping-1] Multi thread started 
[pointlio_mapping-1] lidar_type: 5
[pointlio_mapping-1] ~~~~/root/catkin_point_lio_unilidar/src/point_lio_ros2/ file opened
[pointlio_mapping-1] first lidar time1.75942e+09
[pointlio_mapping-1] [INFO] [1759939699.474676793] [laserMapping]: IMU Initializing: 1.0 %
[pointlio_mapping-1] [WARN] [1759939699.475556918] [laserMapping]: Reset ImuProcess
[pointlio_mapping-1] [INFO] [1759939700.399766252] [laserMapping]: IMU Initializing: 18.0 %
[pointlio_mapping-1] [INFO] [1759939701.509699877] [laserMapping]: IMU Initializing: 58.0 %
[pointlio_mapping-1] [INFO] [1759939701.509938502] [laserMapping]: IMU Initializing: 100.0 %

My frame graph before point_lio_ros2 launched

and after

I have error shown in FoxGlove:

Transform tree cycle detected: Received transform with parent "base_link" and child
"unilidar_lidar", but "unilidar_lidar" is already an ancestor of "base_link". Transform has been dropped.

Missing transform from frame <aft_mapped> to frame <base_link>

I have seen somewhere else that my frame map should be upside-down to what I have.

[vstadnytskyi]

I have remapped frames and now I have

and I see path in the FoxGlove

I still need to figure out how to visualize the current map.

[vstadnytskyi]

this is my launch file. I have put use_imu_as _input to False since it messes up with path if I do.

from launch import LaunchDescription
from launch.actions import GroupAction, DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    # Declare the RViz argument
    rviz_arg = DeclareLaunchArgument(
        'rviz', default_value='true',
        description='Flag to launch RViz.')

    # Node parameters, including those from the YAML configuration file
    laser_mapping_params = [
        PathJoinSubstitution([
            FindPackageShare('point_lio'),
            'config', 'unilidar_l2.yaml'
        ]),
        {
            'use_imu_as_input': False,  # Change to True to use IMU as input of Point-LIO
            'prop_at_freq_of_imu': True,
            'check_satu': True,
            'init_map_size': 100,
            'point_filter_num': 1,  # Options: 1, 3
            'space_down_sample': True,
            'filter_size_surf': 0.1,  # Options: 0.5, 0.3, 0.2, 0.15, 0.1
            'filter_size_map': 0.1,  # Options: 0.5, 0.3, 0.15, 0.1
            'cube_side_length': 1000.0,  # Option: 1000
            'runtime_pos_log_enable': False,  # Option: True
        }
    ]

    # Node definition for laserMapping with Point-LIO
    laser_mapping_node = Node(
        package='point_lio',
        executable='pointlio_mapping',
        name='laserMapping',
        output='screen',
        parameters=laser_mapping_params,
        # prefix='gdb -ex run --args'
    )

    # Conditional RViz node launch
    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz',
        arguments=['-d', PathJoinSubstitution([
            FindPackageShare('point_lio'),
            'rviz_cfg', 'loam_livox.rviz'
        ])],
        condition=IfCondition(LaunchConfiguration('rviz')),
        prefix='nice'
    )

    # Assemble the launch description
    ld = LaunchDescription([
        laser_mapping_node
    ])

    return ld

[vstadnytskyi]

I have recorded a short video on algorithm drawing path but not updating LaserMap.
https://www.loom.com/share/32dd4624046047e2a079d20eaf6719d8?sid=5985aa5e-6b9f-462b-a370-449abe4dc214

[vstadnytskyi]

I also noticed that Laser_Map topic is not updated

[vstadnytskyi]