After long time, the map is changing.

mcdrob commented 1 year ago

Hi!

I'm using Cartographer for localization and mapping. However, my robot has a path where it constantly turns, and since the map constantly updates itself after the robot works for 3-4 hours, the map and therefore the localization shifts by 30-40 degrees. How can I prevent this situation? Do you have any advice?

Some params I use are like these :

TRAJECTORY_BUILDER.pure_localization_trimmer = {
  max_submaps_to_keep = 4,
}
POSE_GRAPH.constraint_builder.global_localization_min_score =  0.5
POSE_GRAPH.constraint_builder.min_score = 0.4

eithwa commented 1 year ago

If you can provide bag, lua, pbstream, launch and urdf files I can help you test it. I am interested in the long-term movement situation.

naitiknakrani-eic commented 2 months ago

@mcdrob Did you get your solution ? I am facing the same issue.

mcdrob commented 2 months ago

No, I didn't. I'm using other packages(algorithms) for localization. I think a cartographer is not suitable for that.

naitiknakrani-eic commented 2 months ago

@mcdrob Which one ? Is it ROS based ?

cartographer-project / cartographer_ros

After long time, the map is changing. #1798