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MISTLab / Swarm-SLAM

Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems
https://lajoiepy.github.io/cslam_documentation/html/index.html
MIT License
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voxel_size is too small #36

Closed Yyote closed 5 months ago

Yyote commented 5 months ago

I have a problem using Swarm-SLAM with a 2d lidar. I'm launching the experiment_lidar.launch.py with commented out zenoh in a custom launch file with a custom simulator. The lidar gives 120 points around the robot. I managed to launch the algorithms but I get the following error:

[Open3D Error] (std::shared_ptr<open3d::geometry::PointCloud> open3d::geometry::PointCloud::VoxelDownSample(double) const) /root/Open3D/cpp/open3d/geometry/PointCloud.cpp:366: voxel_size is too small.

I tried varying the voxel_size from 0.1 to 1000 and it made no difference. Any help would be appreciated.

lajoiepy commented 5 months ago

Swarm-SLAM does not support 2D lidars at the moment. There are some pointers here if you want to implement it : https://github.com/lajoiepy/cslam_experiments/issues/8 However, 2D inter-robot loop closure detection is difficult considering the small amount of information the sensor outputs. Good luck! :)