ITVRoC / ekf_loam

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tunnel_sabara.bag performace #13

Open RuanJY opened 6 months ago

RuanJY commented 6 months ago

Thanks for your excellent work.

I run the tunnel_sabara.bag. I found that I need to modify some code because the status of the code may used for velodyne32 Lidar, but the bag provides ouster-16 messages. After that, I got:

  # Filter settings
  enableFilter: false
  enableFlatGround : true 

Screenshot-20240422162713-3638x514

  # Filter settings
  enableFilter: true
  enableFlatGround : true 

Screenshot-20240422170716-3400x444

After applying the filter, the robot moves farther, which implies that your filter works. However, the performance is not as well as your pictures. Should I change some other parameters?

What I have done: in ekf_loam_parameters.yaml

  lidar_frame: "os1_lidar"

in ekf_loam.launch

    rosparam unless="$(arg sim)" command="load" file="$(find ekf_loam)/config/os1_16_parameters.yaml" /
<!--
    <rosparam unless="$(arg sim)" command="load" file="$(find ekf_loam)/config/velodyne_32_parameters.yaml" />
-->
    <rosparam if="$(arg sim)" command="load" file="$(find ekf_loam)/config/vlp_16_sim_parameters.yaml" />

and

<!--
        <remap from="/os1_cloud_node/points" to="/velodyne_points"/>
-->