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DaniGarciaLopez / ros2_explorer

In this repo we use Turtlebot 3 along with ROS 2 and Gazebo to explore an unknown csv environment, navigate through it and create a map
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Map gets lost after some time on KITTI Run 007 at turns #3

Closed col761-22 closed 1 year ago

col761-22 commented 1 year ago

Hi, I am trying to run cartographer using KITTI run 007. I preprocesed the dataset using a preprocessing step that turns the data into a range image of size [3,60,512]. The cartograher works well in straight lines but blunders at turns. I am clueless as to what coud be the issue here and tried different tricks with respect to the lua configuration, but didnt work. Could someone help here. I am posting the rosbag and the lua file here for refernece. KITTI bag used: kitti-run-007-bag Lua file used Lua This is the result using the bag with the given configuration. The map seems to get lost at the turns. Screenshot from 2022-09-09 12-56-51 Requesting your help here. Thanks. Prashant

DaniGarciaLopez commented 1 year ago

Hi @col761-22. Since this is a Cartographer question, I would strongly suggest you open a post on ROS Answers. The issue is not related to this repository, so I'm closing it.