submaps built with cartographer are blur

[yangtfu]

Hi. everyone. I was building a map of my office with both cartographer and gmapping. We have a 16 channel lidar on top of a robot providing both scan and point cloud data and a single channel lidar mounted at waist level of the robot providing only scan data. However the maps built with cartographer are always not satisfactory, the walls are thick and corners are not vertical compared with the one built with gmapping. I thought the submaps are poor and tuned the parameters related to ceres matcher and realtime correlative scan matcher, but the results are still not very good. I uploaded the bags and maps below, could anyone please check them for me. Thanks a lot. The map built with gmapping https://drive.google.com/open?id=1lzsTSdhI5qMcxPly_Wlq8mBNgbmuYIU4 The map built using scan data with cartographer https://drive.google.com/open?id=12IwNWz8H7NQIhJQEjXIxpEBpMqNZXA2T The map built using point cloud data with cartographer https://drive.google.com/open?id=1vNNvQaa_h7zVUjAGS0UE0jVfhWV4MU4- Bag file: https://drive.google.com/open?id=1KKTtZpR1W78w_S2_IsPZE0DybuWN2AmY lua file for scan data builder:

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_footprint",
  published_frame = "base_footprint",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = true,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 0.5,
  odometry_sampling_ratio = 0.5,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}
MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true

TRAJECTORY_BUILDER_2D.adaptive_voxel_filter.max_range = 30.
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 30

lua file for point cloud builder:

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_footprint",
  published_frame = "base_footprint",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = true,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 0,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 1,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 0.5,
  odometry_sampling_ratio = 0.5,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}
MAP_BUILDER.use_trajectory_builder_2d = true
--MAP_BUILDER.num_background_threads = 7

TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.min_range = 0.4
TRAJECTORY_BUILDER_2D.max_range = 50.
TRAJECTORY_BUILDER_2D.min_z = 0
TRAJECTORY_BUILDER_2D.max_z = 2.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5.
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1
TRAJECTORY_BUILDER_2D.voxel_filter_size = 0.025

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.2
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(20.)
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 1e-1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 100
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 400
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.use_nonmonotonic_steps = true
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 40
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.num_threads = 4

TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.05
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 30

--TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1

POSE_GRAPH.optimize_every_n_nodes = 10

--POSE_GRAPH.constraint_builder.sampling_ratio = 0.3
--POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.constraint_builder.min_score = 0.1
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.6

[casiarobot]

follow

[zxtsuper]

follow

[qintxwd]

follow