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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
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lidar frame is not moving #1062

Closed robotsoft closed 6 years ago

robotsoft commented 6 years ago

Hello,

I'm trying to run 3D SLAM with one 3D lidar and IMU. When I tried to build a map, the lidar frame is not moving and fixed in the map frame.

I modified urdf/backpack_3d.urdf and configuration_files/backpack_3d.lua and configuration_files/demo_3d.rviz.

In urdf/backpack_3d.urdf, I delete vertical_vlp16_link and changed horizontal_vlp16_link to the frame_id of my point cloud data.

In configuration_files/backpack_3d.lua, I changed num_point_clouds to 1.

In configuration_files/demo_3d.rviz, I set vertical_vlp16_link as false and changed horizontal_vlp16_link to the frame id of my point cloud data.

Could you let me know what I missed or did wrong?

gaschler commented 6 years ago

What are the log messages? Do you see the accumulated point cloud in rviz (not the input messages)? Please give more details following the issue template https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/.github/ISSUE_TEMPLATE

robotsoft commented 6 years ago

Thank you for letting me know the issue template. The output of the validation tool are as follows.

E0413 11:38:57.695830 22866 rosbag_validate_main.cc:350] frame_id "odom" on topic odometry/filtered has serialization time 1523485211.273044274 but sensor time 1523485181.300542593 differing by -29.9725 s. E0413 11:38:57.696030 22866 rosbag_validate_main.cc:350] frame_id "base_link" on topic /imu/data has serialization time 1523485211.278231944 but sensor time 1523485181.345422302 differing by -29.9328 s. E0413 11:38:57.696043 22866 rosbag_validate_main.cc:350] frame_id "imu_link" on topic /imu_um7/data has serialization time 1523485211.278242416 but sensor time 1523485181.345422302 differing by -29.9328 s. E0413 11:38:59.495668 22866 rosbag_validate_main.cc:365] Average IMU linear acceleration is 10.5157 m/s^2, expected is [9.5, 10.5] m/s^2. Linear acceleration data should include gravity and be given in m/s^2. E0413 11:38:59.495726 22866 rosbag_validate_main.cc:389] IMU data (frame_id: "base_link") has a large gap, largest is 0.065963 s, recommended is [0.0005, 0.005] s with no jitter. I0413 11:38:59.495906 22866 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/imu/data" (frame_id: "base_link"): Count: 3895 Min: 0.039001 Max: 0.065963 Mean: 0.052505 [0.039001, 0.041698) Count: 3 (0.077022%) Total: 3 (0.077022%) [0.041698, 0.044394) Count: 20 (0.513479%) Total: 23 (0.590501%) [0.044394, 0.047090) ## Count: 332 (8.523748%) Total: 355 (9.114249%) [0.047090, 0.049786) ## Count: 340 (8.729140%) Total: 695 (17.843390%) [0.049786, 0.052482) ##### Count: 911 (23.388960%) Total: 1606 (41.232349%) [0.052482, 0.055178) ######### Count: 1691 (43.414635%) Total: 3297 (84.646980%) [0.055178, 0.057875) # Count: 284 (7.291399%) Total: 3581 (91.938385%) [0.057875, 0.060571) # Count: 292 (7.496791%) Total: 3873 (99.435173%) [0.060571, 0.063267) Count: 20 (0.513479%) Total: 3893 (99.948654%) [0.063267, 0.065963] Count: 2 (0.051348%) Total: 3895 (100.000000%) E0413 11:38:59.495944 22866 rosbag_validate_main.cc:389] IMU data (frame_id: "imu_link") has a large gap, largest is 0.065963 s, recommended is [0.0005, 0.005] s with no jitter. I0413 11:38:59.496101 22866 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/imu_um7/data" (frame_id: "imu_link"): Count: 3895 Min: 0.039001 Max: 0.065963 Mean: 0.052505 [0.039001, 0.041698) Count: 3 (0.077022%) Total: 3 (0.077022%) [0.041698, 0.044394) Count: 20 (0.513479%) Total: 23 (0.590501%) [0.044394, 0.047090) ## Count: 332 (8.523748%) Total: 355 (9.114249%) [0.047090, 0.049786) ## Count: 340 (8.729140%) Total: 695 (17.843390%) [0.049786, 0.052482) ##### Count: 911 (23.388960%) Total: 1606 (41.232349%) [0.052482, 0.055178) ######### Count: 1691 (43.414635%) Total: 3297 (84.646980%) [0.055178, 0.057875) # Count: 284 (7.291399%) Total: 3581 (91.938385%) 0.060571, 0.063267) Count: 20 (0.513479%) Total: 3893 (99.948654%) [0.063267, 0.065963] Count: 2 (0.051348%) Total: 3895 (100.000000%) I0413 11:38:59.496523 22866 rosbag_validate_main.cc:398 Total: 3895 (100.000000%) I0413 11:38:59.496523 22866 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "odometry/filtered" (frame_id: "odom"): Count: 10226 Min: 0.000000 Max: 0.058992 Mean: 0.020003 [0.000000, 0.005899) ####### Count: 3705 (36.231174%) Total: 3705 (36.231174%) [0.005899, 0.011798) # Count: 505 (4.938392%) Total: 4210 (41.169567%) [0.011798, 0.017698) ## Count: 1047 (10.238607%) Total: 5257 (51.408176%) [0.017698, 0.023597) ## Count: 783 (7.656953%) Total: 6040 (59.065128%) [0.023597, 0.029496) # Count: 567 (5.544690%) Total: 6607 (64.609818%) [0.029496, 0.035395) # Count: 463 (4.527675%) Total: 7070 (69.137489%) [0.035395, 0.041294) #### Count: 1839 (17.983572%) Total: 8909 (87.121063%) [0.041294, 0.047193) # Count: 372 (3.637786%) Total: 9281 (90.758850%) [0.047193, 0.053093) # Count: 751 (7.344025%) Total: 10032 (98.102875%) [0.053093, 0.058992] Count: 194 (1.897125%) Total: 10226 (100.000000%) E0413 11:38:59.496564 22866 rosbag_validate_main.cc:382] Point data (frame_id: "rslidar") has a large gap, largest is 0.102153 s, recommended is [0.0005, 0.05] s with no jitter. I0413 11:38:59.496670 22866 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/rslidar_points" (frame_id: "rslidar"): Count: 2004 Min: 0.101844 Max: 0.102153 Mean: 0.102001 [0.101844, 0.101875) Count: 8 (0.399202%) Total: 8 (0.399202%) [0.101875, 0.101906) Count: 47 (2.345309%) Total: 55 (2.744511%) [0.101906, 0.101937) # Count: 128 (6.387226%) Total: 183 (9.131737%) [0.101937, 0.101968) ## Count: 208 (10.379242%) Total: 391 (19.510979%) [0.101968, 0.101999) ###### Count: 569 (28.393213%) Total: 960 (47.904190%) [0.101999, 0.102029) ###### Count: 578 (28.842316%) Total: 1538 (76.746506%) [0.102029, 0.102060) ## Count: 250 (12.475050%) Total: 1788 (89.221558%) [0.102060, 0.102091) ## Count: 152 (7.584830%) Total: 1940 (96.806389%) [0.102091, 0.102122) # Count: 54 (2.694611%) Total: 1994 (99.500999%) [0.102122, 0.102153] Count: 10 (0.499002%) Total: 2004 (100.000000%)

robotsoft commented 6 years ago

Yes, I saw some point clouds are accumulated in rviz.

gaschler commented 6 years ago

E0413 11:38:57.696030 22866 rosbag_validate_main.cc:350] frame_id "base_link" on topic /imu/data has serialization time 1523485211.278231944 but sensor time 1523485181.345422302 differing by -29.9328 s. E0413 11:38:57.696043 22866 rosbag_validate_main.cc:350] frame_id "imu_link" on topic /imu_um7/data has serialization time 1523485211.278242416 but sensor time 1523485181.345422302 differing by -29.9328 s.

Your serialized bag files have conflicting message (ros::Time) and header (sensor) time stamps. Before pose is published by cartographer_ros, it extrapolates to ros::Time:now, in your case 30 s, so all published transforms will be useless.

Easiest fix would be to record another bag file on the machine where the sensors are.

gaschler commented 6 years ago

Also, please post the log messages.

robotsoft commented 6 years ago

Hi I collected IMU and Lidar data in the same machine. The output of the validation tool are as follows.

E0420 11:22:53.282181 21162 rosbag_validate_main.cc:350] frame_id "odom" on topic /odometry/filtered has serialization time 1524001898.105818058 but sensor time 1524001866.291658640 differing by -31.8142 s.
E0420 11:22:53.283152 21162 rosbag_validate_main.cc:350] frame_id "odom" on topic /odometry/filtered has serialization time 1524001898.125624690 but sensor time 1524001866.331605911 differing by -31.794 s.
E0420 11:22:53.291318 21162 rosbag_validate_main.cc:350] frame_id "odom" on topic /odometry/filtered has serialization time 1524001898.145776731 but sensor time 1524001866.331605911 differing by -31.8142 s.
E0420 11:23:08.845710 21162 rosbag_validate_main.cc:365] Average IMU linear acceleration is 10.5165 m/s^2, expected is [9.5, 10.5] m/s^2. Linear acceleration data should include gravity and be given in m/s^2.
E0420 11:23:08.845849 21162 rosbag_validate_main.cc:389] IMU data (frame_id: "imu_link") has a large gap, largest is 0.0650453 s, recommended is [0.0005, 0.005] s with no jitter.
I0420 11:23:08.846256 21162 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/imu_um7_zotac/data" (frame_id: "imu_link"):
Count: 3862  Min: 0.036949  Max: 0.065045  Mean: 0.052473
[0.036949, 0.039759)                            Count: 12 (0.310720%)   Total: 12 (0.310720%)
[0.039759, 0.042569)                            Count: 3 (0.077680%)    Total: 15 (0.388400%)
[0.042569, 0.045378)                            Count: 5 (0.129467%)    Total: 20 (0.517866%)
[0.045378, 0.048188)                            Count: 50 (1.294666%)   Total: 70 (1.812532%)
[0.048188, 0.050997)                     ###    Count: 594 (15.380631%) Total: 664 (17.193165%)
[0.050997, 0.053807)            ############    Count: 2387 (61.807354%)    Total: 3051 (79.000519%)
[0.053807, 0.056616)                    ####    Count: 775 (20.067322%) Total: 3826 (99.067841%)
[0.056616, 0.059426)                            Count: 17 (0.440186%)   Total: 3843 (99.508026%)
[0.059426, 0.062236)                            Count: 4 (0.103573%)    Total: 3847 (99.611603%)
[0.062236, 0.065045]                            Count: 15 (0.388400%)   Total: 3862 (100.000000%)
I0420 11:23:08.847483 21162 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/odometry/filtered" (frame_id: "odom"):
Count: 10133  Min: 0.000000  Max: 0.058820  Mean: 0.020000
[0.000000, 0.005882)                 #######    Count: 3664 (36.159084%)    Total: 3664 (36.159084%)
[0.005882, 0.011764)                            Count: 3 (0.029606%)    Total: 3667 (36.188690%)
[0.011764, 0.017646)                            Count: 0 (0.000000%)    Total: 3667 (36.188690%)
[0.017646, 0.023528)                   #####    Count: 2691 (26.556795%)    Total: 6358 (62.745483%)
[0.023528, 0.029410)                            Count: 1 (0.009869%)    Total: 6359 (62.755352%)
[0.029410, 0.035292)                            Count: 116 (1.144775%)  Total: 6475 (63.900127%)
[0.035292, 0.041174)                 #######    Count: 3585 (35.379452%)    Total: 10060 (99.279579%)
[0.041174, 0.047056)                            Count: 0 (0.000000%)    Total: 10060 (99.279579%)
[0.047056, 0.052938)                            Count: 64 (0.631600%)   Total: 10124 (99.911179%)
[0.052938, 0.058820]                            Count: 9 (0.088819%)    Total: 10133 (100.000000%)
E0420 11:23:08.847551 21162 rosbag_validate_main.cc:382] Point data (frame_id: "rslidar") has a large gap, largest is 0.104106 s, recommended is [0.0005, 0.05] s with no jitter.
I0420 11:23:08.847785 21162 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/rslidar_points" (frame_id: "rslidar"):
Count: 1987  Min: 0.099879  Max: 0.104106  Mean: 0.101998
[0.099879, 0.100302)                            Count: 1 (0.050327%)    Total: 1 (0.050327%)
[0.100302, 0.100724)                            Count: 0 (0.000000%)    Total: 1 (0.050327%)
[0.100724, 0.101147)                            Count: 0 (0.000000%)    Total: 1 (0.050327%)
[0.101147, 0.101570)                            Count: 1 (0.050327%)    Total: 2 (0.100654%)
[0.101570, 0.101992)                ########    Count: 799 (40.211372%) Total: 801 (40.312027%)
[0.101992, 0.102415)            ############    Count: 1184 (59.587318%)    Total: 1985 (99.899345%)
[0.102415, 0.102838)                            Count: 1 (0.050327%)    Total: 1986 (99.949677%)
[0.102838, 0.103261)                            Count: 0 (0.000000%)    Total: 1986 (99.949677%)
[0.103261, 0.103683)                            Count: 0 (0.000000%)    Total: 1986 (99.949677%)
[0.103683, 0.104106]                            Count: 1 (0.050327%)    Total: 1987 (100.000000%)

However, only some of point clouds are accumulated at the same position as shown in the figure below. image

The log messages as follows.

[ INFO] [1524248941.966825229]: I0420 11:29:01.000000 21373 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files/jdx_husky_3d.lua' for 'jdx_husky_3d.lua'.
[ INFO] [1524248941.967034980]: I0420 11:29:01.000000 21373 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1524248941.967059630]: I0420 11:29:01.000000 21373 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1524248941.982077419]: I0420 11:29:01.000000 21373 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1524248941.982112493]: I0420 11:29:01.000000 21373 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1524248941.990284407]: I0420 11:29:01.000000 21373 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1524248941.990312602]: I0420 11:29:01.000000 21373 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1524248941.990628558]: I0420 11:29:01.000000 21373 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1524248941.990653210]: I0420 11:29:01.000000 21373 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1524248941.990831249]: I0420 11:29:01.000000 21373 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1524248941.990857860]: I0420 11:29:01.000000 21373 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1524248942.049048573]: I0420 11:29:02.000000 21373 playable_bag.cc:63] Processed 0 of 202.697 seconds of bag /home/soonhac/projects/datasets/Husky/rslidar/2018-04-17-14-51-37_lidar_map_indoor2outdoor.bag
[ INFO] [1524248942.049655877]: I0420 11:29:02.000000 21373 submap_3d.cc:321] Added submap 1
[ INFO] [1524248942.049702462]: I0420 11:29:02.000000 21373 map_builder_bridge.cc:130] Added trajectory with ID '0'.
[ INFO] [1524248942.049731422]: I0420 11:29:02.000000 21373 offline_node.cc:270] Assigned trajectory 0 to bag /home/soonhac/projects/datasets/Husky/rslidar/2018-04-17-14-51-37_lidar_map_indoor2outdoor.bag
[ INFO] [1524248942.052462344, 1524001898.128747159]: I0420 11:29:02.000000 21373 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '636595986981283727'.
[ INFO] [1524248942.055022846, 1524001898.233506498]: I0420 11:29:02.000000 21373 local_trajectory_builder_3d.cc:86] IMU not yet initialized.
[ INFO] [1524248951.523188375, 1524002010.838560179]: I0420 11:29:11.000000 21373 playable_bag.cc:63] Processed 112.753 of 202.697 seconds of bag /home/soonhac/projects/datasets/Husky/rslidar/2018-04-17-14-51-37_lidar_map_indoor2outdoor.bag
[ INFO] [1524248957.248268031, 1524002061.339211937]: I0420 11:29:17.000000 21373 collated_trajectory_builder.cc:72] imu rate: 19.06 Hz 5.25e-02 s +/- 1.90e-03 s (pulsed at 1054.80% real time)
[ INFO] [1524248957.248364853, 1524002061.339211937]: I0420 11:29:17.000000 21373 collated_trajectory_builder.cc:72] points2 rate: 9.80 Hz 1.02e-01 s +/- 8.19e-05 s (pulsed at 1119.04% real time)
[ INFO] [1524248959.739977722, 1524002099.779116366]: I0420 11:29:19.000000 21373 map_builder_bridge.cc:147] Finishing trajectory with ID '0'...
[ INFO] [1524248959.740053152, 1524002099.779971976]: I0420 11:29:19.000000 21373 map_builder_bridge.cc:156] Running final trajectory optimization...
[ INFO] [1524248959.740131646, 1524002099.779971976]: I0420 11:29:19.000000 21441 constraint_builder_3d.cc:307] 0 computations resulted in 0 additional constraints.
[ INFO] [1524248959.740154857, 1524002099.779971976]: I0420 11:29:19.000000 21441 constraint_builder_3d.cc:309] Score histogram:
Count: 0
[ INFO] [1524248959.740171750, 1524002099.779971976]: I0420 11:29:19.000000 21441 constraint_builder_3d.cc:310] Rotational score histogram:
Count: 0
[ INFO] [1524248959.740194796, 1524002099.779971976]: I0420 11:29:19.000000 21441 constraint_builder_3d.cc:312] Low resolution score histogram:
Count: 0
[ INFO] [1524248959.775202720, 1524002099.779971976]: I0420 11:29:19.000000 21441 pose_graph_3d.cc:587] Translational residuals histogram:
Count: 12  Min: 0.822699  Max: 6.504292  Mean: 2.747219
[0.822699, 1.390858)                ########    Count: 5 (41.666668%)   Total: 5 (41.666668%)
[1.390858, 1.959018)                      ##    Count: 1 (8.333333%)    Total: 6 (50.000000%)
[1.959018, 2.527177)                            Count: 0 (0.000000%)    Total: 6 (50.000000%)
[2.527177, 3.095336)                            Count: 0 (0.000000%)    Total: 6 (50.000000%)
[3.095336, 3.663495)                     ###    Count: 2 (16.666666%)   Total: 8 (66.666664%)
[3.663495, 4.231655)                     ###    Count: 2 (16.666666%)   Total: 10 (83.333336%)
[4.231655, 4.799814)                            Count: 0 (0.000000%)    Total: 10 (83.333336%)
[4.799814, 5.367973)                            Count: 0 (0.000000%)    Total: 10 (83.333336%)
[5.367973, 5.936132)                      ##    Count: 1 (8.333333%)    Total: 11 (91.666664%)
[5.936132, 6.504292]                      ##    Count: 1 (8.333333%)    Total: 12 (100.000000%)
[ INFO] [1524248959.775418517, 1524002099.779971976]: I0420 11:29:19.000000 21441 pose_graph_3d.cc:589] Rotational residuals histogram:
Count: 12  Min: 0.073831  Max: 0.142734  Mean: 0.086490
[0.073831, 0.080721)                ########    Count: 5 (41.666668%)   Total: 5 (41.666668%)
[0.080721, 0.087612)                   #####    Count: 3 (25.000000%)   Total: 8 (66.666664%)
[0.087612, 0.094502)                   #####    Count: 3 (25.000000%)   Total: 11 (91.666664%)
[0.094502, 0.101392)                            Count: 0 (0.000000%)    Total: 11 (91.666664%)
[0.101392, 0.108282)                            Count: 0 (0.000000%)    Total: 11 (91.666664%)
[0.108282, 0.115173)                            Count: 0 (0.000000%)    Total: 11 (91.666664%)
[0.115173, 0.122063)                            Count: 0 (0.000000%)    Total: 11 (91.666664%)
[0.122063, 0.128953)                            Count: 0 (0.000000%)    Total: 11 (91.666664%)
[0.128953, 0.135843)                            Count: 0 (0.000000%)    Total: 11 (91.666664%)
[0.135843, 0.142734]                      ##    Count: 1 (8.333333%)    Total: 12 (100.000000%)
[ INFO] [1524248959.775658933, 1524002099.779971976]: I0420 11:29:19.000000 21441 pose_graph_3d.cc:376] Remaining work items in queue: 1
[ INFO] [1524248959.775761029, 1524002099.779971976]: I0420 11:29:19.000000 21442 constraint_builder_3d.cc:307] 0 computations resulted in 0 additional constraints.
[ INFO] [1524248959.775828378, 1524002099.779971976]: I0420 11:29:19.000000 21442 constraint_builder_3d.cc:309] Score histogram:
Count: 0
[ INFO] [1524248959.775923682, 1524002099.779971976]: I0420 11:29:19.000000 21442 constraint_builder_3d.cc:310] Rotational score histogram:
Count: 0
[ INFO] [1524248959.776011933, 1524002099.779971976]: I0420 11:29:19.000000 21442 constraint_builder_3d.cc:312] Low resolution score histogram:
Count: 0
[ INFO] [1524248959.785397469, 1524002099.779971976]: I0420 11:29:19.000000 21442 pose_graph_3d.cc:587] Translational residuals histogram:
Count: 12  Min: 0.822794  Max: 6.510255  Mean: 2.747115
[0.822794, 1.391541)                ########    Count: 5 (41.666668%)   Total: 5 (41.666668%)
[1.391541, 1.960287)                      ##    Count: 1 (8.333333%)    Total: 6 (50.000000%)
[1.960287, 2.529033)                            Count: 0 (0.000000%)    Total: 6 (50.000000%)
[2.529033, 3.097779)                            Count: 0 (0.000000%)    Total: 6 (50.000000%)
[3.097779, 3.666525)                     ###    Count: 2 (16.666666%)   Total: 8 (66.666664%)
[3.666525, 4.235271)                     ###    Count: 2 (16.666666%)   Total: 10 (83.333336%)
[4.235271, 4.804017)                            Count: 0 (0.000000%)    Total: 10 (83.333336%)
[4.804017, 5.372763)                            Count: 0 (0.000000%)    Total: 10 (83.333336%)
[5.372763, 5.941509)                      ##    Count: 1 (8.333333%)    Total: 11 (91.666664%)
[5.941509, 6.510255]                      ##    Count: 1 (8.333333%)    Total: 12 (100.000000%)
[ INFO] [1524248959.785482892, 1524002099.779971976]: I0420 11:29:19.000000 21442 pose_graph_3d.cc:589] Rotational residuals histogram:
Count: 12  Min: 0.016106  Max: 0.114816  Mean: 0.040923
[0.016106, 0.025977)                     ###    Count: 2 (16.666666%)   Total: 2 (16.666666%)
[0.025977, 0.035848)              ##########    Count: 6 (50.000000%)   Total: 8 (66.666664%)
[0.035848, 0.045719)                      ##    Count: 1 (8.333333%)    Total: 9 (75.000000%)
[0.045719, 0.055590)                      ##    Count: 1 (8.333333%)    Total: 10 (83.333336%)
[0.055590, 0.065461)                            Count: 0 (0.000000%)    Total: 10 (83.333336%)
[0.065461, 0.075332)                      ##    Count: 1 (8.333333%)    Total: 11 (91.666664%)
[0.075332, 0.085203)                            Count: 0 (0.000000%)    Total: 11 (91.666664%)
[0.085203, 0.095074)                            Count: 0 (0.000000%)    Total: 11 (91.666664%)
[0.095074, 0.104945)                            Count: 0 (0.000000%)    Total: 11 (91.666664%)
[0.104945, 0.114816]                      ##    Count: 1 (8.333333%)    Total: 12 (100.000000%)
Optimizing: Done.     
[ INFO] [1524248959.785583970, 1524002099.779971976]: I0420 11:29:19.000000 21440 constraint_builder_3d.cc:307] 0 computations resulted in 0 additional constraints.
[ INFO] [1524248959.785602833, 1524002099.779971976]: I0420 11:29:19.000000 21440 constraint_builder_3d.cc:309] Score histogram:
Count: 0
[ INFO] [1524248959.785619007, 1524002099.779971976]: I0420 11:29:19.000000 21440 constraint_builder_3d.cc:310] Rotational score histogram:
Count: 0
[ INFO] [1524248959.785635509, 1524002099.779971976]: I0420 11:29:19.000000 21440 constraint_builder_3d.cc:312] Low resolution score histogram:
Count: 0
[ INFO] [1524248959.785671494, 1524002099.779971976]: I0420 11:29:19.000000 21373 offline_node.cc:335] Elapsed wall clock time: 17.7754 s
[ INFO] [1524248959.785703198, 1524002099.779971976]: I0420 11:29:19.000000 21373 offline_node.cc:339] Elapsed CPU time: 18.4583 s
[ INFO] [1524248959.785738918, 1524002099.779971976]: I0420 11:29:19.000000 21373 offline_node.cc:343] Peak memory usage: 336148 KiB
[ INFO] [1524248959.785757981, 1524002099.779971976]: I0420 11:29:19.000000 21373 offline_node.cc:350] Writing state to '/home/soonhac/projects/datasets/Husky/rslidar/2018-04-17-14-51-37_lidar_map_indoor2outdoor.bag.pbstream'...
Optimizing: Done.     
[ INFO] [1524248960.309192501, 1524002099.779971976]: I0420 11:29:20.000000 21446 constraint_builder_3d.cc:307] 0 computations resulted in 0 additional constraints.
[ INFO] [1524248960.310527361, 1524002099.779971976]: I0420 11:29:20.000000 21446 constraint_builder_3d.cc:309] Score histogram:
Count: 0
[ INFO] [1524248960.310549796, 1524002099.779971976]: I0420 11:29:20.000000 21446 constraint_builder_3d.cc:310] Rotational score histogram:
Count: 0
[ INFO] [1524248960.310565247, 1524002099.779971976]: I0420 11:29:20.000000 21446 constraint_builder_3d.cc:312] Low resolution score histogram:
Count: 0
[cartographer_offline_node-2] process has finished cleanly
cschuet commented 6 years ago

As @gaschler already mentioned and now the validation tool: The messages in your serialized bag have a conflicting message and header time. That needs to be fixed.

We run a pose extrapolator in cartographer_ros that uses IMU and odometry messages to extrapolate to ros::Time:now which is 30secs ahead of your serialized data. Extrapolating over 30 secs is not going to end well :)

robotsoft commented 6 years ago

Hi @cschuet,

Thank you for comments. Do you mean the time stamp of odometry should also be synchronized with the time stamp of Lidar and IMU? I thought Catographer uses only IMU and Lidar for building a map. Dose Catographer use the odometry for building a map?

robotsoft commented 6 years ago

Hi @cschuet,

Hi I collected IMU and Lidar data only. The output of the validation tool are as follows.

E0427 16:01:23.210783  9986 rosbag_validate_main.cc:365] Average IMU linear acceleration is 10.545 m/s^2, expected is [9.5, 10.5] m/s^2. Linear acceleration data should include gravity and be given in m/s^2.
E0427 16:01:23.211024  9986 rosbag_validate_main.cc:389] IMU data (frame_id: "imu_link") has a large gap, largest is 0.0650007 s, recommended is [0.0005, 0.005] s with no jitter.
I0427 16:01:23.211069  9986 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/imu_um7_zotac/data" (frame_id: "imu_link"):
Count: 1091  Min: 0.037984  Max: 0.065001  Mean: 0.052599
[0.037984, 0.040686)                            Count: 6 (0.549954%)    Total: 6 (0.549954%)
[0.040686, 0.043388)                            Count: 0 (0.000000%)    Total: 6 (0.549954%)
[0.043388, 0.046089)                            Count: 0 (0.000000%)    Total: 6 (0.549954%)
[0.046089, 0.048791)                            Count: 5 (0.458295%)    Total: 11 (1.008249%)
[0.048791, 0.051492)                       #    Count: 59 (5.407883%)   Total: 70 (6.416132%)
[0.051492, 0.054194)      ##################    Count: 992 (90.925758%) Total: 1062 (97.341888%)
[0.054194, 0.056896)                            Count: 21 (1.924840%)   Total: 1083 (99.266731%)
[0.056896, 0.059597)                            Count: 1 (0.091659%)    Total: 1084 (99.358383%)
[0.059597, 0.062299)                            Count: 2 (0.183318%)    Total: 1086 (99.541702%)
[0.062299, 0.065001]                            Count: 5 (0.458295%)    Total: 1091 (100.000000%)
E0427 16:01:23.211088  9986 rosbag_validate_main.cc:382] Point data (frame_id: "rslidar") has a large gap, largest is 0.102071 s, recommended is [0.0005, 0.05] s with no jitter.
I0427 16:01:23.211119  9986 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/rslidar_points" (frame_id: "rslidar"):
Count: 562  Min: 0.101940  Max: 0.102071  Mean: 0.102000
[0.101940, 0.101953)                            Count: 1 (0.177936%)    Total: 1 (0.177936%)
[0.101953, 0.101966)                            Count: 0 (0.000000%)    Total: 1 (0.177936%)
[0.101966, 0.101979)                            Count: 4 (0.711744%)    Total: 5 (0.889680%)
[0.101979, 0.101992)                  ######    Count: 182 (32.384342%) Total: 187 (33.274021%)
[0.101992, 0.102005)                  ######    Count: 181 (32.206406%) Total: 368 (65.480431%)
[0.102005, 0.102019)                 #######    Count: 186 (33.096085%) Total: 554 (98.576515%)
[0.102019, 0.102032)                            Count: 6 (1.067616%)    Total: 560 (99.644127%)
[0.102032, 0.102045)                            Count: 1 (0.177936%)    Total: 561 (99.822067%)
[0.102045, 0.102058)                            Count: 0 (0.000000%)    Total: 561 (99.822067%)
[0.102058, 0.102071]                            Count: 1 (0.177936%)    Total: 562 (100.000000%)

However, only some of point clouds are accumulated at the same position as shown in the figure below.

image

The log messages as follows.

[ INFO] [1524870342.921244030]: I0427 16:05:42.000000 10148 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files/jdx_husky_3d.lua' for 'jdx_husky_3d.lua'.
[ INFO] [1524870342.921631456]: I0427 16:05:42.000000 10148 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1524870342.921686537]: I0427 16:05:42.000000 10148 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1524870342.921783345]: I0427 16:05:42.000000 10148 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1524870342.921843515]: I0427 16:05:42.000000 10148 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1524870342.922010498]: I0427 16:05:42.000000 10148 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1524870342.922053029]: I0427 16:05:42.000000 10148 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1524870342.922119736]: I0427 16:05:42.000000 10148 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1524870342.922159922]: I0427 16:05:42.000000 10148 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1524870342.922272737]: I0427 16:05:42.000000 10148 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1524870342.922333467]: I0427 16:05:42.000000 10148 configuration_file_resolver.cc:41] Found '/home/soonhac/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1524870342.941004506]: I0427 16:05:42.000000 10148 playable_bag.cc:63] Processed 0 of 57.3932 seconds of bag /home/soonhac/projects/datasets/Husky/rslidar/2018-04-26-15-34-42_lidar_map_indoor.bag
[ INFO] [1524870342.941819780]: I0427 16:05:42.000000 10148 submap_3d.cc:321] Added submap 1
[ INFO] [1524870342.941880563]: I0427 16:05:42.000000 10148 map_builder_bridge.cc:130] Added trajectory with ID '0'.
[ INFO] [1524870342.941917404]: I0427 16:05:42.000000 10148 offline_node.cc:270] Assigned trajectory 0 to bag /home/soonhac/projects/datasets/Husky/rslidar/2018-04-26-15-34-42_lidar_map_indoor.bag
[ INFO] [1524870342.945031090, 1524782082.528242472]: I0427 16:05:42.000000 10148 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '636603788825357159'.
[ INFO] [1524870342.947975003, 1524782082.588019217]: I0427 16:05:42.000000 10148 local_trajectory_builder_3d.cc:86] IMU not yet initialized.
[ INFO] [1524870345.621533942, 1524782138.830150024]: I0427 16:05:45.000000 10148 map_builder_bridge.cc:147] Finishing trajectory with ID '0'...
[ INFO] [1524870345.621609958, 1524782138.871966053]: I0427 16:05:45.000000 10148 map_builder_bridge.cc:156] Running final trajectory optimization...
[ INFO] [1524870345.621690053, 1524782138.871966053]: I0427 16:05:45.000000 10219 constraint_builder_3d.cc:307] 0 computations resulted in 0 additional constraints.
[ INFO] [1524870345.621709652, 1524782138.871966053]: I0427 16:05:45.000000 10219 constraint_builder_3d.cc:309] Score histogram:
Count: 0
[ INFO] [1524870345.621726510, 1524782138.871966053]: I0427 16:05:45.000000 10219 constraint_builder_3d.cc:310] Rotational score histogram:
Count: 0
[ INFO] [1524870345.621745692, 1524782138.871966053]: I0427 16:05:45.000000 10219 constraint_builder_3d.cc:312] Low resolution score histogram:
Count: 0
[ INFO] [1524870345.626932860, 1524782138.871966053]: I0427 16:05:45.000000 10219 pose_graph_3d.cc:587] Translational residuals histogram:
Count: 3  Min: 0.000001  Max: 0.000002  Mean: 0.000001
[0.000001, 0.000001)           #############    Count: 2 (66.666664%)   Total: 2 (66.666664%)
[0.000001, 0.000001)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000001, 0.000001)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000001, 0.000001)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000001, 0.000002)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000002, 0.000002)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000002, 0.000002)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000002, 0.000002)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000002, 0.000002)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000002, 0.000002]                 #######    Count: 1 (33.333332%)   Total: 3 (100.000000%)
[ INFO] [1524870345.627158857, 1524782138.871966053]: I0427 16:05:45.000000 10219 pose_graph_3d.cc:589] Rotational residuals histogram:
Count: 3  Min: 0.000430  Max: 0.002237  Mean: 0.001570
[0.000430, 0.000611)                 #######    Count: 1 (33.333332%)   Total: 1 (33.333332%)
[0.000611, 0.000791)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.000791, 0.000972)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.000972, 0.001153)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.001153, 0.001334)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.001334, 0.001514)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.001514, 0.001695)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.001695, 0.001876)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.001876, 0.002057)                 #######    Count: 1 (33.333332%)   Total: 2 (66.666664%)
[0.002057, 0.002237]                 #######    Count: 1 (33.333332%)   Total: 3 (100.000000%)
[ INFO] [1524870345.627396516, 1524782138.871966053]: I0427 16:05:45.000000 10219 pose_graph_3d.cc:376] Remaining work items in queue: 1
[ INFO] [1524870345.627470569, 1524782138.871966053]: I0427 16:05:45.000000 10219 constraint_builder_3d.cc:307] 0 computations resulted in 0 additional constraints.
[ INFO] [1524870345.627546493, 1524782138.871966053]: I0427 16:05:45.000000 10219 constraint_builder_3d.cc:309] Score histogram:
Count: 0
[ INFO] [1524870345.627614509, 1524782138.871966053]: I0427 16:05:45.000000 10219 constraint_builder_3d.cc:310] Rotational score histogram:
Count: 0
[ INFO] [1524870345.627676391, 1524782138.871966053]: I0427 16:05:45.000000 10219 constraint_builder_3d.cc:312] Low resolution score histogram:
Count: 0
[ INFO] [1524870345.628658521, 1524782138.871966053]: I0427 16:05:45.000000 10219 pose_graph_3d.cc:587] Translational residuals histogram:
Count: 3  Min: 0.000000  Max: 0.000000  Mean: 0.000000
[0.000000, 0.000000)           #############    Count: 2 (66.666664%)   Total: 2 (66.666664%)
[0.000000, 0.000000)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000000, 0.000000)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000000, 0.000000)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000000, 0.000000)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000000, 0.000000)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000000, 0.000000)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000000, 0.000000)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000000, 0.000000)                            Count: 0 (0.000000%)    Total: 2 (66.666664%)
[0.000000, 0.000000]                 #######    Count: 1 (33.333332%)   Total: 3 (100.000000%)
[ INFO] [1524870345.628890811, 1524782138.871966053]: I0427 16:05:45.000000 10219 pose_graph_3d.cc:589] Rotational residuals histogram:
Count: 3  Min: 0.000317  Max: 0.001750  Mean: 0.001265
[0.000317, 0.000460)                 #######    Count: 1 (33.333332%)   Total: 1 (33.333332%)
[0.000460, 0.000603)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.000603, 0.000747)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.000747, 0.000890)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.000890, 0.001033)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.001033, 0.001177)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.001177, 0.001320)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.001320, 0.001463)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.001463, 0.001607)                            Count: 0 (0.000000%)    Total: 1 (33.333332%)
[0.001607, 0.001750]           #############    Count: 2 (66.666664%)   Total: 3 (100.000000%)
Optimizing: Done.     
[ INFO] [1524870345.629011682, 1524782138.871966053]: I0427 16:05:45.000000 10221 constraint_builder_3d.cc:307] 0 computations resulted in 0 additional constraints.
[ INFO] [1524870345.629032959, 1524782138.871966053]: I0427 16:05:45.000000 10221 constraint_builder_3d.cc:309] Score histogram:
Count: 0
[ INFO] [1524870345.629075988, 1524782138.871966053]: I0427 16:05:45.000000 10221 constraint_builder_3d.cc:310] Rotational score histogram:
Count: 0
[ INFO] [1524870345.629114285, 1524782138.871966053]: I0427 16:05:45.000000 10221 constraint_builder_3d.cc:312] Low resolution score histogram:
Count: 0
[ INFO] [1524870345.629169931, 1524782138.871966053]: I0427 16:05:45.000000 10148 offline_node.cc:335] Elapsed wall clock time: 2.7026 s
[ INFO] [1524870345.629210617, 1524782138.871966053]: I0427 16:05:45.000000 10148 offline_node.cc:339] Elapsed CPU time: 2.89511 s
[ INFO] [1524870345.629252958, 1524782138.871966053]: I0427 16:05:45.000000 10148 offline_node.cc:343] Peak memory usage: 125064 KiB
[ INFO] [1524870345.629288624, 1524782138.871966053]: I0427 16:05:45.000000 10148 offline_node.cc:350] Writing state to '/home/soonhac/projects/datasets/Husky/rslidar/2018-04-26-15-34-42_lidar_map_indoor.bag.pbstream'...
Optimizing: Done.     
[ INFO] [1524870345.712144490, 1524782138.871966053]: I0427 16:05:45.000000 10218 constraint_builder_3d.cc:307] 0 computations resulted in 0 additional constraints.
[ INFO] [1524870345.712169054, 1524782138.871966053]: I0427 16:05:45.000000 10218 constraint_builder_3d.cc:309] Score histogram:
Count: 0
[ INFO] [1524870345.712182265, 1524782138.871966053]: I0427 16:05:45.000000 10218 constraint_builder_3d.cc:310] Rotational score histogram:
Count: 0
[ INFO] [1524870345.712197427, 1524782138.871966053]: I0427 16:05:45.000000 10218 constraint_builder_3d.cc:312] Low resolution score histogram:
Count: 0
gaschler commented 6 years ago

Your newest rosbag_validate results look fine.

[ INFO] [1524870342.941880563]: I0427 16:05:42.000000 10148 map_builder_bridge.cc:130] Added trajectory with ID '0'. [ INFO] [1524870342.941917404]: I0427 16:05:42.000000 10148 offline_node.cc:270] Assigned trajectory 0 to bag /home/soonhac/projects/datasets/Husky/rslidar/2018-04-26-15-34-42_lidar_map_indoor.bag [ INFO] [1524870342.945031090, 1524782082.528242472]: I0427 16:05:42.000000 10148 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '636603788825357159'. [ INFO] [1524870342.947975003, 1524782082.588019217]: I0427 16:05:42.000000 10148 local_trajectory_builder_3d.cc:86] IMU not yet initialized. [ INFO] [1524870345.621533942, 1524782138.830150024]: I0427 16:05:45.000000 10148 map_builder_bridge.cc:147] Finishing trajectory with ID '0'...

Not a single submap is created, there must be something wrong with your configuration. (Unless you are sending only empty point clouds.) Please share your config in a fork, as described in the issue template.

robotsoft commented 6 years ago

Hi @cschuet,

Thank you for your comments. You may download configure files at https://drive.google.com/open?id=12RblY1O876poGwjyavPXQwngxpfoWH83 and point cloud data at https://drive.google.com/open?id=1t-cRFnmrswQjayyQqly7OxLvgRSxpiey.

gaschler commented 6 years ago

Closing inactive question.