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cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.
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Unstable map->odom frame when using odometry #1239

Closed dnikitop closed 4 years ago

dnikitop commented 5 years ago

Using localization only mode to localize robot in mapped area. Inputting reliable/smooth odometry data but see a very unstable map->odom tf frame. Mostly occurs when turning. The map->odom tf is the one shaking in the gif below https://giphy.com/gifs/8BkIhqzLYYnbCz6sgi

Lowering the lidar sampling rate causes an extremely unstable frame which seems to be dragged by the odometry before it is reset by the scan. https://giphy.com/gifs/euCv4zqEIHuvD4cxr4

Is there an issue with the input of our odometry data?

  1. Rosbag validation - contains the output map_carto->odom tf. https://gist.github.com/dnikitop/4c5c74fc15e37dd0b4602f2c123186f2

  2. Using recent master release of cartographer and cartographer_ros Lua File Content: https://gist.github.com/dnikitop/4dd6d7f19e839d57d79d9c2bc5d454b2

  3. Bag File of the robot turning in place with the resulting map_carto->odom frame: https://drive.google.com/file/d/1szVYH1xUlkz0lPifBPnpo96cMPU3Wri0/view?usp=sharing

  4. PBStream of the map we are trying to localize with: https://drive.google.com/file/d/1eJAbffkKt99Qif16ujLXPIYs3v5rpNdi/view?usp=sharing

remaps: odometry = /sensors/odometry/pose lidar = /sensors/lidar/scan

tf tree: We have a static tf pub from map -> map_carto. Cartographer is calculating map_carto->odom map->map_carto->odom->base_footprint

MichaelGrupp commented 4 years ago

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

han-kyung-min commented 3 years ago

Hello @dnikitop, I have a similar issue when I use cartographer for 2D mapping This is the video link. Not sure if my problem is the exact same as yours since your video links are not available anymore. I am just wondering if you have managed to fix your problem yet.

Best regards,

zixiao-bios commented 1 year ago

Hello @han-kyung-min , I have the same situation as your video. Have you solved this problem？

han-kyung-min commented 1 year ago

Hello, zixiao,

No I haven't. Unfortunately, the authors are not responding to my question. :(

On Thu, Feb 16, 2023 at 12:13 PM zixiao-bios @.***> wrote:

Hello @han-kyung-min https://github.com/han-kyung-min , I have the same situation as your video. Have you solved this problem？

— Reply to this email directly, view it on GitHub https://github.com/cartographer-project/cartographer_ros/issues/1239#issuecomment-1432430083, or unsubscribe https://github.com/notifications/unsubscribe-auth/AA7PL2YZRZVU4YFS24WECUTWXWLPDANCNFSM4HBRPMIA . You are receiving this because you were mentioned.Message ID: @.***>