Missing /lidar_odometry/localmap_points publisher

[Jannkar]

Since the latest Humble sync, MOLA stopped publishing the /lidar_odometry/localmap_points when I'm running it in localization mode. I found out that it seems to be related to this commit: 3c01826

Adding back the removed checks for if (!anyUpdateMapSubscriber()) { makes the publishing to work correctly again.

[jlblancoc]

Interesting... "It Works For Me"(™), though 😆

Can you please try to undo your change, rebuild, launch it, and look at the terminal (rosout) to see if there is any line like this?

[mola-cli-1] [21:43:19.5142|INFO |mola::BridgeROS2:ros2_bridge] Subscribing to MOLA map source module 'mola::LidarOdometry:lidar_odom'

If it's there, then there should be a subscriber and the if() should be true... 🤔

[Jannkar]

Hope I can provide you info with the necessary info to reproduce it on your side 😄 Or to find out if I'm doing something wrong.

So I removed my fork build files completely, downloaded new mola_lidar_odometry from apt repositories, and relaunched. And the issue is there again as expected. But I also have the log that you were looking for (with some extras if they turn out to be useful):

[mola-cli-1] [08:52:38.4189|INFO |mola::LidarOdometry:lidar_odom] Attached to a VizInterface module
[mola-cli-1] [08:52:38.4681|INFO |mola::BridgeROS2:ros2_bridge] Subscribing to MOLA localization source module 'mola::LidarOdometry:lidar_odom'
[mola-cli-1] [08:52:38.4682|INFO |mola::BridgeROS2:ros2_bridge] Subscribing to MOLA map source module 'mola::LidarOdometry:lidar_odom'
[mola-cli-1] [08:52:38.4682|INFO |mola::BridgeROS2:ros2_bridge] Subscribing to MOLA relocalization module 'mola::LidarOdometry:lidar_odom'
[mola-cli-1] [08:52:38.4886|INFO |mola::BridgeROS2:ros2_bridge] Subscribing to MOLA map server module 'mola::LidarOdometry:lidar_odom'
[mola-cli-1] [08:52:40.7892|INFO |StateEstimationSimple] reset() called
[mola-cli-1] [08:52:40.7892|INFO |LidarOdometry] Initial re-localization done with pose: (x,y,z,yaw,pitch,roll)=(0.0000,0.0000,0.0000,0.00deg,0.00deg,0.00deg)

If it helps, this is the way I'm launching MOLA as part of another launch file.

    mola_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(
                get_package_share_directory('mola_lidar_odometry'), 'ros2-launchs', 'ros2-lidar-odometry.launch.py'
            )
        ),
        launch_arguments={
            "mola_lo_pipeline": mola_config,
            "lidar_topic_name": lidar_topic,
            "mola_tf_base_link": frame_name,
            "ignore_lidar_pose_from_tf": "False",
            "publish_localization_following_rep105": "False",
            "use_rviz": enable_gui,
            "use_mola_gui": enable_gui,
            "start_active": "True",
            "start_mapping_enabled": "False",
            "mola_initial_map_mm_file": mm_path,
            "mola_initial_map_simplemap_file": simplemap_path,
        }.items(),
    )

The only thing I'm wondering if it could cause something extra locally, is my custom MOLA config. I made it before the latest Humble sync, but I would expect it to still work. There shouldn't be anything in the config updates that could break publishing the map, or cause difference in the behavior between you and me, right? And then again, the same config works with my fork: https://github.com/Jannkar/mola_lidar_odometry, so it shouldn't be about it.

Hope this info helps!