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cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.
Apache License 2.0
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Problem using multi Velodyne VLP-16 #1311

Closed glxycruzer closed 3 years ago

glxycruzer commented 5 years ago

Hello,

I used Cartographer on implementing 2d SLAM and 3d with one VLP-16 and it was great. I'm now using Cartographer 3d to do outdoor SLAM with several VLP-16 Velodyne LiDARs(up to four). But when I try to use more than one LiDAR, the data keeps blinking and the map is not properly made. So I made the package that merges point cloud into one topic. But in this case, it fails on doing loop closure. Is there something I need to do in tuning the configuration?

Here are the files

  1. rosbag_validate result https://gist.github.com/glxycruzer/405f2dd75e875e75151e36cc62c2e3e0

  2. cartographer_ros configuration, launch, and URDF files https://github.com/glxycruzer/cartographer_ros (file with the name of my_robot_multi are the ones that uses four LiDARs)

  3. Link to a bag file(I had to cut the bag file because of the massive file size) https://drive.google.com/open?id=17AYBYqJ_eNTzIYU8_q03LEmuvxtaEOiP

Thank you for your great work. I really appreciate it.

MichaelGrupp commented 3 years ago

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