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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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Current pose changes too rarely and no rviz topics other than current_pose_estimate #44

Open Yyote opened 3 weeks ago

Yyote commented 3 weeks ago

I managed to get it working with Orin Nano, zed2i and odometry from it. The main problem is that current_pose_estimate changes too rarely to be usable althoug the topic hz is around 10. Is it a parameter issue? How can I improve the frequency?

The other issue is more like a question, what is the "normal scene" of topics and rviz topics when cslam is correctly working?

Also, attached a video with the example of current_pose_estimate update rate in rviz.

https://github.com/MISTLab/Swarm-SLAM/assets/94308727/7c92892b-d256-476b-b313-a5a81316553c

lajoiepy commented 2 weeks ago

Hi! Thanks for your interest in our work :)

The delay you are experiencing is strange to me. Would you mind sharing your configuration file with all the parameter values, as well as your launch files?