search

CCNYRoboticsLab / scan_tools

ROS Laser scan tools
300 stars 187 forks source link

Error in scan matching #89

Closed mgrallos closed 1 year ago

mgrallos commented 1 year ago

I got this error message 

:err:   : before trimming, only 47 correspondences.
:err: icp: ICP failed for some reason.

I don't know what causes it.

mgrallos commented 1 year ago

and how to fix it

cst0 commented 1 year ago

If this error message comes up from time to time but doesn't otherwise impede operation, I wouldn't worry about it: laser data comes in so quickly that a few missed scans is no big deal. My best guess is that it's some edge case in the underlying implementation of the algorithm, but without more detail it's hard to say.

If you're able to provide more information, and in particular steps to replicate, I'm happy to discuss further. But for now, I'll have to close this as inactive and lacking replication steps.