Request for help tuning cartographer in 3d

[Ellon]

Hi,

I'm trying to tune cartographer on a custom bag for a vehicle in 3d with no success. :frowning_face: My vehicle accumulates considerable drift on Z and is not able to loop close when rejoining it's trajectory. Could anyone give me some tips on how to tune the algorithm for my case ?

Here's the information requested on the boilerplate:

• my branch of cartographer_ros with my config and launch files;
• the bag used during my tests;
• rosbag_validate output.

The static sensor transforms are published on /tf on the bag. They are the same as the ones of the URDF file that you can find on the branch.

X-ray of my results:

• XY

• XZ

• YZ

[Ellon]

@gaschler @ojura Would you mind taking a look at it if you have time ? (I'm pinging you two based on comments on related issues... :) )

[eithwa]

Due to the huge map size, I use a large search window

POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher_3d.linear_xy_search_window = 50.
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher_3d.linear_z_search_window = 3.
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher_3d.angular_search_window = math.rad(30.)
POSE_GRAPH.constraint_builder.min_score = 0.45