Hi. I am struggling with the transform from map-> odom, which are computed by cartographer.
I am using 2 lidar scans and 1 3D camera.
The tests I have performed are with the robot standing still in the map (no moving).
When using only 2 lidar scans (num_laser_scans = 2, num_point_clouds = 0), the map->odom transform is stable, with just some very small noise which not affects the map.
The transform do look like this:
At time 1324.100000000
- Translation: [1.944, 0.436, -0.311]
- Rotation: in Quaternion [0.000, 0.001, 0.003, 1.0]
When using only the pointcloud as input ( num_point_clouds = 1, num_laser_scans = 0), the transform does still look good and stable, and pretty much similar to the previous one.
At time 1324.100000000
- Translation: [1.965, 0.480, -0.311]
- Rotation: in Quaternion [0.000, 0.001, 0.003, 1.0]
But when I try to combine the lidars and the camera (num_point_clouds = 1, num_laser_scans = 2), the transform is jumping around, and the orientation is drifting, making the map look bad (looks like two maps on top of each other, with a rotation between).
Two following transforms look like this:
At time 1306.50000000
- Translation: [2.062, 0.039, -0.336]
- Rotation: in Quaternion [-0.017, 0.003, -0.125, 0.992]
At time 1306.160000000
- Translation: [2.016, 0.630, -0.312]
- Rotation: in Quaternion [-0.000, 0.001, 0.006, 1.000]
Which ofcourse make the map rotate based. Especially the y-coordinates are changing much, and also the z in the quaternions.
Can someone please help me figure out why this is happening?
Thankyou!!
Hi. I am struggling with the transform from map-> odom, which are computed by cartographer. I am using 2 lidar scans and 1 3D camera.
The tests I have performed are with the robot standing still in the map (no moving). When using only 2 lidar scans (num_laser_scans = 2, num_point_clouds = 0), the map->odom transform is stable, with just some very small noise which not affects the map. The transform do look like this:
When using only the pointcloud as input ( num_point_clouds = 1, num_laser_scans = 0), the transform does still look good and stable, and pretty much similar to the previous one.
But when I try to combine the lidars and the camera (num_point_clouds = 1, num_laser_scans = 2), the transform is jumping around, and the orientation is drifting, making the map look bad (looks like two maps on top of each other, with a rotation between).
Two following transforms look like this:
Which ofcourse make the map rotate based. Especially the y-coordinates are changing much, and also the z in the quaternions.
Can someone please help me figure out why this is happening? Thankyou!!
Here is the rest of my lua file: