Hi @Roya-Salehzadeh,
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Yep, the points showing up in voxl_mapper_aligned_ptcloud are static (ie. not tied to the vehicle's current pose)
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I've never tried to do that so I'm not 100% sure but recording the points with a ros2 bag seems like a reasonable approach
3a. I'm not sure why you would need to do any transformation to plot the data on RViz. Voxl-mapper already does transformations to put the data in a static frame of reference. If you're only seeing it as a live stream this is probably because it's playing one message one after the other. I'm not sure but there might be a setting in RViz to ignore the timestamps or you could potentially do something like set all the timestamps to 1.
3b. Voxl-mapper uses the tof data to generate the map. What are you trying to do by visualizing the tof data?
3c. For visualizing the path I'm not sure if you would need to do transformations or not. This is the line that digests the pose data in voxl-portal. After a little investigating it seems like the /world might be the correct frame_id.
If it were me, I'd start by getting the accumulated map on RViz then plot the odometry inside that map with the /world frame_id and then check if you need to do any additional transformations.
@brahim what're your thoughts on the RViz frame_id for odometry?
Let me know if that helps,
Ted