How to use this process？

[renjiahao0928]

Thanks for your efforts.
When I finished configuring its dependencies,I found that I could not use the realsense-d435i to run this code.Can you tell me how to use it?How to modify the configuration file？Thanks

[MaverickPeter]

Hi renjiahao.
To use d435i, you need to first change topic name in

GEM/elevation_mapping/elevation_mapping_demos/launch/simple_demo.launch

Lines 6 to 7 in 5014272

	<arg name="camera_topic" default="/$(arg robot_name)/image_rect"/>
	<arg name="lidar_topic" default="/$(arg robot_name)/pointcloud"/>

and then some configs about frame_id should be changed in

GEM/elevation_mapping/elevation_mapping_demos/config/robots/simple_demo_robot.yaml

Lines 3 to 6 in 5014272

	map_frame_id: "/robot0/map"
	sensor_frame_id: "/PandarQT"
	robot_base_frame_id: "/PandarQT"
	track_point_frame_id: "/PandarQT"

and also you have to create a parameter file and link here

GEM/elevation_mapping/elevation_mapping_demos/config/robots/simple_demo_robot.yaml

Line 16 in 5014272

camera_params_yaml: "/home/mav-lab/Projects/git_backup/GEM_ws/src/elevation_mapping/yq_intrinsic.yaml"

When you finish things mentioned above, you can run it.

[MaverickPeter]

One more thing, you should first have a odometry running to provide a tf in tf tree. And then, in configuration, you have to modify the map frame id and sensor frame id according to this odometry.