eithwa
commented
3 years ago 
I think these are not helpful, so I disable them
--TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 1
--TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 1Then add these
POSE_GRAPH.optimize_every_n_nodes = 25
POSE_GRAPH.optimization_problem.odometry_rotation_weight = 0.3
POSE_GRAPH.optimization_problem.odometry_translation_weight = 0.3
POSE_GRAPH.constraint_builder.min_score = 0.5
Here is the output of cartographer_rosbag_validate.
We know about the double publishing of topics and are not concerned as we are going through some changes in the current robot right now (this is intended).
This is the link to the relevant fork to run the bag file. The urdf and configuration files are named my_robot and the launch file is named demo_my_robot.
Here is the bag file that I am using.
I have tried multiple different approaches for tuning this bag file but your software out of the box gets it very close to ground truth! I have tried adjusting both the rotation and translation weights but both seem to have a negative impact on the output. I just need to know if you (the developers) have any tips to get it that extra little percent to be perfect. Here is an image of what it looks like right now.
Picture
The problem is that the hallway on the bottom left isn't lining up perfectly (we loop around and revisit it at the end of our trajectory). It could be a matter of getting it to recognize that it has been there before and having one more loop closure constraint, but I'm not sure.