gaschler
commented
6 years ago I see at least two issues here.
rotating planar 2d LIDAR
MAP_BUILDER.use_trajectory_builder_3d = true
With a 2D lidar, use 2D SLAM.
3D SLAM requires (in practice) >4 planes of laser measurements.
Set MAP_BUILDER.use_trajectory_builder_3d = false.
E0509 11:56:49.294574 15162 rosbag_validate_main.cc:365] Average IMU linear acceleration is 5.9268 m/s^2, expected is [9.5, 10.5] m/s^2. Linear acceleration data should include gravity and be given in m/s^2.
Your IMU data is wrong, you cannot use it. (Do you do any calculations or filtering in between?)
Set trajectory_builder_2d.use_imu_data = false.
Hope this helps.
alfred31
bochen87
Hello. I am using cartographer with a rotating planar 2d LIDAR. The thing is that the submaps are really poor. Besides the system does not close the loop. I saw that the Z axis decreases continuously even though the robot is moving in a planar floor. Any idea why is this happening? These are the results of rosbag validation are showed below: W0509 11:56:48.749516 15162 rosbag_validate_main.cc:103] frame_id imu_link time 1525707113829814862: IMU linear acceleration is 0.458578 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration 0.0434229 -0.228816 00.395034 E0509 11:56:48.749853 15162 rosbag_validate_main.cc:326] frame_id "imu_link" is send on multiple topics. It was seen at least on /sensors/imu and /sensors/imu_raw W0509 11:56:48.750057 15162 rosbag_validate_main.cc:352] frame_id "foxizuyo_hokuyo" on topic /foxizuyo/scan has serialization time 1525707113.912360266 but sensor time 1525707113.789593280 differing by -0.122767 s. W0509 11:56:48.750074 15162 rosbag_validate_main.cc:103] frame_id imu_link time 1525707113842995174: IMU linear acceleration is 0.230427 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration 000.156535 -0.0262548 000.167045 W0509 11:56:48.750098 15162 rosbag_validate_main.cc:103] frame_id imu_link time 1525707113859665360: IMU linear acceleration is 0.841206 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration 0.028564 00.46092 0.703111 E0509 11:56:48.750174 15162 rosbag_validate_main.cc:315] Sensor with frame_id "imu_link" jumps backwards in time. Make sure that the bag contains the data for each frame_id sorted by header.stamp, i.e. the order in which they were acquired from the sensor. E0509 11:56:48.750187 15162 rosbag_validate_main.cc:326] frame_id "imu_link" is send on multiple topics. It was seen at least on /sensors/imu and /sensors/imu_raw E0509 11:56:48.750205 15162 rosbag_validate_main.cc:315] Sensor with frame_id "imu_link" jumps backwards in time. Make sure that the bag contains the data for each frame_id sorted by header.stamp, i.e. the order in which they were acquired from the sensor. E0509 11:56:48.750217 15162 rosbag_validate_main.cc:326] frame_id "imu_link" is send on multiple topics. It was seen at least on /sensors/imu and /sensors/imu_raw E0509 11:56:48.750239 15162 rosbag_validate_main.cc:315] Sensor with frame_id "imu_link" jumps backwards in time. Make sure that the bag contains the data for each frame_id sorted by header.stamp, i.e. the order in which they were acquired from the sensor. E0509 11:56:49.294574 15162 rosbag_validate_main.cc:365] Average IMU linear acceleration is 5.9268 m/s^2, expected is [9.5, 10.5] m/s^2. Linear acceleration data should include gravity and be given in m/s^2. I0509 11:56:49.294968 15162 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/foxizuyo/scan" (frame_id: "foxizuyo_hokuyo"): Count: 8905 Min: 0.027727 Max: 0.040933 Mean: 0.033686 [0.027727, 0.029048) Count: 33 (0.370578%) Total: 33 (0.370578%) [0.029048, 0.030368) ##### Count: 2114 (23.739471%) Total: 2147 (24.110050%) [0.030368, 0.031689) ## Count: 710 (7.973049%) Total: 2857 (32.083099%) [0.031689, 0.033009) # Count: 662 (7.434026%) Total: 3519 (39.517124%) [0.033009, 0.034330) #### Count: 1778 (19.966311%) Total: 5297 (59.483437%) [0.034330, 0.035651) ## Count: 1077 (12.094329%) Total: 6374 (71.577766%) [0.035651, 0.036971) ### Count: 1512 (16.979225%) Total: 7886 (88.556992%) [0.036971, 0.038292) # Count: 520 (5.839416%) Total: 8406 (94.396408%) [0.038292, 0.039612) Count: 90 (1.010668%) Total: 8496 (95.407074%) [0.039612, 0.040933] # Count: 409 (4.592926%) Total: 8905 (100.000000%) E0509 11:56:49.295166 15162 rosbag_validate_main.cc:389] IMU data (frame_id: "imu_link") has a large gap, largest is 0.0534519 s, recommended is [0.0005, 0.005] s with no jitter. I0509 11:56:49.296026 15162 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/sensors/imu" (frame_id: "imu_link"): Count: 48309 Min: -0.040272 Max: 0.053452 Mean: 0.006210 [-0.040272, -0.030899) Count: 2 (0.004140%) Total: 2 (0.004140%) [-0.030899, -0.021527) Count: 1 (0.002070%) Total: 3 (0.006210%) [-0.021527, -0.012155) Count: 0 (0.000000%) Total: 3 (0.006210%) [-0.012155, -0.002782) Count: 0 (0.000000%) Total: 3 (0.006210%) [-0.002782, 0.006590) ########### Count: 27754 (57.450993%) Total: 27757 (57.457203%) [0.006590, 0.015963) ######### Count: 20544 (42.526237%) Total: 48301 (99.983437%) 0.034707, 0.044080) Count: 1 (0.002070%) Total: 48308 (99.997932%) [0.044080, 0.053452] Count: 1 (0.002070%) Total: 48309 (100.000000%) I0509 11:56:49.296891 15162 rosbag_validate_main.cc:398 Total: 48308 (99.997932%) [0.044080, 0.053452] Count: 1 (0.002070%) Total: 48309 (100.000000%) I0509 11:56:49.296891 15162 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/odometry/loc" (frame_id: "odom"): Count: 29973 Min: 0.000000 Max: 0.031161 Mean: 0.010008 [0.000000, 0.003116) ###### Count: 8251 (27.528109%) Total: 8251 (27.528109%) [0.003116, 0.006232) # Count: 923 (3.079438%) Total: 9174 (30.607546%) [0.006232, 0.009348) # Count: 1342 (4.477363%) Total: 10516 (35.084911%) [0.009348, 0.012464) ## Count: 3051 (10.179161%) Total: 13567 (45.264072%) [0.012464, 0.015580) ##### Count: 8094 (27.004303%) Total: 21661 (72.268372%) [0.015580, 0.018696) ##### Count: 7465 (24.905748%) Total: 29126 (97.174126%) [0.018696, 0.021813) Count: 584 (1.948420%) Total: 29710 (99.122543%) [0.021813, 0.024929) Count: 158 (0.527141%) Total: 29868 (99.649681%) [0.024929, 0.028045) Count: 98 (0.326961%) Total: 29966 (99.976646%) [0.028045, 0.031161] Count: 7 (0.023354%) Total: 29973 (100.000000%)
And my backpack 3d.lua:
options = { map_builder = MAP_BUILDER, trajectory_builder = TRAJECTORY_BUILDER, map_frame = "map", tracking_frame = "imu_link", published_frame = "base_link", odom_frame = "odom", provide_odom_frame = true, publish_frame_projected_to_2d = false, use_odometry = false, use_nav_sat = false, use_landmarks = false, num_laser_scans = 1, num_multi_echo_laser_scans = 0, num_subdivisions_per_laser_scan = 1, num_point_clouds = 0, lookup_transform_timeout_sec = 0.2, submap_publish_period_sec = 0.3, pose_publish_period_sec = 5e-3, trajectory_publish_period_sec = 30e-3, rangefinder_sampling_ratio = 1., odometry_sampling_ratio = 0.3, fixed_frame_pose_sampling_ratio = 1., imu_sampling_ratio = 1., landmarks_sampling_ratio = 1.,
}
TRAJECTORY_BUILDER_3D.submaps.num_range_data = 10 TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 12 MAP_BUILDER.use_trajectory_builder_3d = true MAP_BUILDER.num_background_threads = 7 POSE_GRAPH.optimization_problem.huber_scale = 5e2 POSE_GRAPH.optimize_every_n_nodes = 10 POSE_GRAPH.constraint_builder.sampling_ratio = 0.01 POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10 POSE_GRAPH.constraint_builder.min_score = 0.62 POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66