Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Hi! May i request help on global SLAM 'tilting' as shown below. The tilting only arises when i turn on global slam parameter POSE_GRAPH.optimize_every_n_nodes = 90. Im running Cartographer on a rosbag recorded from Gazebo simulation. Set up is a husky robot, equipped with HDL-32E lidar, with both IMU and odom data.
Referring to the pictures below, I first focused on tuning local SLAM, which didnt seem to tilt. Local SLAM was also relatively consistent with a slight drift which i thought could be corrected with global SLAM. Is there any parameters i can tune to correct this tilt. Or is there an issue with my setup/data which i overlooked. Thank you in advance!!
Hi! May i request help on global SLAM 'tilting' as shown below. The tilting only arises when i turn on global slam parameter
POSE_GRAPH.optimize_every_n_nodes = 90. Im running Cartographer on a rosbag recorded from Gazebo simulation. Set up is a husky robot, equipped with HDL-32E lidar, with both IMU and odom data.Following are some files which might help: lua file Husky URDF rosbag validate log
Referring to the pictures below, I first focused on tuning local SLAM, which didnt seem to tilt. Local SLAM was also relatively consistent with a slight drift which i thought could be corrected with global SLAM. Is there any parameters i can tune to correct this tilt. Or is there an issue with my setup/data which i overlooked. Thank you in advance!!