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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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Map suddenly tilts over 90 degrees when everything is still #1627

Open jyp0802 opened 5 years ago

jyp0802 commented 5 years ago

Hey guys! I've been using cartographer on ROS for just a few months now and a while back I found some weird behavior with my system of cartographer.

Im running Cartographers 3D SLAM using a VLP 16 and a Microstrain 3DM-GX3® -25 IMU. They are fixed on top of a turtle bot that is stationary.

But when I run cartographer, whens it roughly 45 seconds into the SLAM running, even though everything is still, the whole map shifts and tilts completely. (Pictures below)

This is when its running well. image

And then it suddenly tilts. image

I've uploaded a video and the bagfile in this link. (SORRY the link wasn't working. I've now updated the link!)

This happens with and without any specific configurations in the lua file. (For the video one I didn't specify any configuration parameters)

If any of you ran into a similar problem or know what wrong, I'd be super thankful if you help!

Thanks so much!

shamengjun commented 5 years ago

I am doubt about your imu data is drit at that time, firstly please check imu data at that time.

qmx066 commented 5 years ago

recheck calibration configuration in URDF file first

Qiuxiaochang commented 4 years ago

Hello, I sometimes have this situation during the playback of the bag, how do you solve it?