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cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.
Apache License 2.0
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Non Clear map and shifty Trajectory with 2 VLP16 and 1 imu #1190

Closed jediofgever closed 3 years ago

jediofgever commented 5 years ago

Hi There, Here is my issue ;

  1. rosbag_validate; https://gist.github.com/jediofgever/87fc16eacd40683366940c32a5dffd79#file-rosbag_validate

  2. my cartographer fork with my configuration https://github.com/jediofgever/cartographer_ros

  3. my bag file; https://drive.google.com/file/d/1d3nCEIdE_i-yj0RJhTVvt5N4ZW4fM8wL/view?usp=sharing

My setup is ; 2 Velodyne VLP16 and 1 Xsens IMU, when I tried to build a map in indoor, things did not go well,.. the created map is very noisy and there is big shifts on trajectory, I tried to reconfigure backback_3d.lua in order to overcome it, but no luck. Could you please have a look to my bag file and the commit where I changed few things for setup, maybe you can get some insights about the cause. The trajectory is definetly not correct, could it be because of the noisy IMU reading, or what could be possible the cause ?

The screenshot of created map is;

image

MichaelGrupp commented 3 years ago

Closing for inactivity, we can't invest time to help you with your setup anymore unfortunately.