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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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Drift in mapping #186

Closed nyangshawbin closed 4 years ago

nyangshawbin commented 4 years ago

image

Hi, i am running lego loam on a rosbag, and there seemed to be quite a bit of slippage/drift as the robot approaches the wall. i am using velodyne HDL-32E in gazebo simulation.

I was wondering if it is due to the static transform of my IMU. 

<node pkg="tf" type="static_transform_publisher" name="imu_to_base" args="0 0 0.068 0 0 0 /base_link /imu 10" /> 

<node pkg="tf" type="static_transform_publisher" name="velodyne_to_base" args="0 0 0.3 0 0 0 /base_link /velodyne 10" />

Should i use the same rpy axis as the base frame stated in the defualt launch file, or do i use the rpy axis of the camera_init and camera frames? Thank you in advance!

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

bclaw524 commented 1 year ago

Hi, did you ever solve this issue?