Nathan Baker

Hi Xu, Nice to meet you! I'm Nathan. Undergrad in CMPE and Accelerated Master's Candidate for ROBO program. Super interested in working on quadrotor autonomy. Thought I'd give this issue...

My plan is to write some code to modify the `..../mapper/src/local_global_mapper.cpp` file. Current idea is to set `local_map_info_.origin.z` to `lidar_position_odom(2)` in the `LocalGlobalMapperNode::processCloud()` function, somewhere after line 287. I understand...

Questions: 1. What is the importance of the `timer` (line 314)? Current idea is to set the z origin for the local map before timer starts, but would love to...

Ok thanks for the clarification. I'll take a closer look at the paper. I agree that removing line 200 would probably work. This ensures that local_voxel_map is set correctly. Is...