Clarification on the published topic `/aligned_points`

[Hyun Kim]

Hello all,

I just have a quick question on what exactly the topic /aligned_points is supposed to publish. My understanding is that it is points that are aligned with the map at the current instance of lidar reading. But I get dynamic objects that are not present in the map pcd file. Any input is much appreciated. Thanks in advance!

[koide3]

Here, "aligned" only means "transformed", and thus aligned_points contains objects not exist in the map.

[Hyun Kim]

@koide3 thanks for the clarification. Closing the issue now.