Run LIO-SAM with Carla and ROS2

[Guzman]

Hi,
I've been trying to use LIO-SAM to map a ros2bag recorded in carla, however I'm not able to make it work.
The topics I have are the following ones:

/carla/ego_vehicle/control/set_transform
/carla/ego_vehicle/enable_autopilot
/carla/ego_vehicle/gnss
/carla/ego_vehicle/imu
/carla/ego_vehicle/lidar
/carla/ego_vehicle/odometry
/carla/ego_vehicle/rgb_front/camera_info
/carla/ego_vehicle/rgb_front/image
/carla/ego_vehicle/rgb_view/camera_info
/carla/ego_vehicle/rgb_view/image
/carla/ego_vehicle/speedometer
/carla/ego_vehicle/vehicle_control_manual_override
/carla/map
/carla/markers
/carla/markers/static
/clock
/events/read_split
/events/write_split
/parameter_events
/rosout
/tf

The tf_tree is the following:

So I've changes the params.yaml topics settings to:

# Topics
    pointCloudTopic: "/carla/ego_vehicle/lidar"                   # Point cloud data
    imuTopic: "/carla/ego_vehicle/imu"                        # IMU data
    odomTopic: "/carla/ego_vehicle/odometry"                    # IMU pre-preintegration odometry, same frequency as IMU
    gpsTopic: "/carla/ego_vehicle/gnss"                    # GPS odometry topic from navsat, see module_navsat.launch file

With that changes, the SLAM algorithm doesn't work, what else do I need to modify?

Thanks in advance :)

[Thomas LUK]

Can u clarify how it doesn't work? Miss aligned or even no map is built

[Guzman]

It didn't show map at all, I finally made it work changing the following in config/params.yaml

    # Topics
    pointCloudTopic: "/carla/ego_vehicle/lidar"                   # Point cloud data
    imuTopic: "/carla/ego_vehicle/imu"                        # IMU data
    odomTopic: "/carla/ego_vehicle/odometry"                    # IMU pre-preintegration odometry, same frequency as IMU
    gpsTopic: "/carla/ego_vehicle/gnss"                    # GPS odometry topic from navsat, see module_navsat.launch file

    # Frames
    lidarFrame: "ego_vehicle/lidar"
    baselinkFrame: "ego_vehicle"
    odometryFrame: "odom"
    mapFrame: "map"