SLAM is not running for ouster bag file
Hello,
I am using an older verison of your repo before your last update. I have not had any problems running velydone point clouds from bag files using your older version. Now, I have trying to run SLAM for ouster 64 data in the format of bag file as well.
The way I produced the bag file we by using an online code "kitti2bag" repo to write the bag files, which was originally written for the KITTI dataset. So, I just replaced the velodyne files with the ouster files (several bin files, where each bin file corresponds to 1 point cloud). Then, I ran the following command:
roslaunch lidar_slam slam.launch
rosbag play -r 0.3 kitti_2011_10_03_drive_0042_synced.bag /kitti/velo/pointcloud:=/velodyne_points
The SLAM does not run at all and prints the attached file "log_1.txt". It is not finding any feature for point cloud matching and then the process dies. The bag file that I have created and used can be downloaded via the GoogleDrive link: "kitti_2011_10_03_drive_0042_synced.bag" (this includes the ouster data)
https://drive.google.com/file/d/19AC7nnH_MI_wk2_ZCEoFN3uTgsyikHHO/view?usp=sharing
In attempts to try and solve the problem, I looked for online ouster sample file to test and investigate the reason for my problem. It did not run as well, while printing the same error that there is not enough features (egdes, planes, and blobs). The command I used to remap the topic name:
rosbag play OS1-64_city1.bag /os1_cloud_node/points:=/velodyne_points
I attached the terminal results in "log_2.txt"
The link where I got the sample ouster bag files is: https://data.ouster.io/sample-data-1.13/OS1-64/index.html
So, please, I would highly appreacite it if you inform me about what could be causing the reason for these errors. I am actually interested in running the bag files that I wrote. The sample ouster was used as a trial to debug the issue. Thank you in advance, and your help is very much apprecaited. I am looking forward to your response.
Regards, Nader.