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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.
Apache License 2.0
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tuning 3D cartographer slam in my own bag with VLP -16 #1600

Open aidamQin opened 5 years ago

aidamQin commented 5 years ago

@SirVer Hi,SirVer, I try to make POSE_GRAPH.optimize_every_n_nodes = 0 to close global slam and see my local , I got the map as following as. stoppark_a stoppark_b when I opened the global slam , the result was not getting better, and it was even worse ， so I wandering where the problem is and how I should turn to get better. Bag configuration ps:I receive the laser and Imu data from the bag through a new node and republish the same topic name and frame_id in the original demo 3D configuration file to the Cartographer. new Node Let me know if you need any other files in order to reproduce the issue. I am look forward to your reply and thank you for your attention.Wish you a nice day!

aidamQin commented 5 years ago

@wjwwood @SirVer @damienrg @damonkohler

QiaoShin commented 5 years ago

@ojura