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RoboticsAltorferTeam / Lidar-Mapping

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Robot odom frame and Lidar output frame not in sync #2

Open Nagrajan23 opened 6 years ago

Nagrajan23 commented 6 years ago

There seems to be a difference in the angles of axes between the robot world frame (given by the odom position of the robot) and the Lidar output from (Lidar data output). This needs to verified by checking the initial and final positions of the robot (given by odom) after some movement and matching this with the initial and final lidar fram outputs.

Nagrajan23 commented 6 years ago

We have managed to get the correct location of the robot in the Lidar frame and superimposed 2 Lidar frames on top of each other (robot being in different positions). There is still some gyro drift in the different frames. This is due to fast changes in the output of #imu_filter . Also check #1

Nagrajan23 commented 6 years ago

The robot orientation does not get stable when there is any rotational motion in the robot.