Closed michellevalente closed 4 years ago
@michellevalente Yes, check the function here
Assign your initial pose to transformSum[]
. The order is pitch, yaw, roll, y, z, x
in standard ROS frame.
Hi Shan, When I tried changing transformSum[] in the code, map building became worse. Should I change other things more in the code?
The initial pose did not start from origin pose as I wanted, however, the result was like this. If I remove "transformSum[]" things what I added, the result was no problem.
I found that if I set the initial pose far from the origin, map drifting was being more.
In my case, when I set like this, it works:
transformSum[3] = 10
transformSum[5] = 10
However, when I set like far from the origin like this, it does not work:
transformSum[3] = 100
transformSum[5] = 100
Is there any way we can provide an initial pose to the method? Thank you in advance for the help!