Open tongtybj opened 6 years ago
Thanks for your pull request. It looks like this may be your first contribution to a Google open source project (if not, look below for help). Before we can look at your pull request, you'll need to sign a Contributor License Agreement (CLA).
:memo: Please visit https://cla.developers.google.com/ to sign.
Once you've signed (or fixed any issues), please reply here (e.g. I signed it!
) and we'll verify it.
I signed it!
CLAs look good, thanks!
I signed it!
////////////////////// 東京大学大学院情報理工学系研究科 稲葉・岡田研究室 趙漠居 〒113-8656 東京都文京区本郷7-3-1 工学部8号館 3階326号室 Mail: chou@jsk.imi.i.u-tokyo.ac.jp Tel: 03-5841-7 <javascript:void(0);>109 Fax: 03-5841-6285 <javascript:void(0);> 携帯: 090-4241-8671 //////////////////////
2018年7月3日(火) 16:01 googlebot notifications@github.com:
Thanks for your pull request. It looks like this may be your first contribution to a Google open source project (if not, look below for help). Before we can look at your pull request, you'll need to sign a Contributor License Agreement (CLA).
📝 Please visit https://cla.developers.google.com/ https://cla.developers.google.com/ to sign.
Once you've signed (or fixed any issues), please reply here (e.g. I signed it!) and we'll verify it.
What to do if you already signed the CLA Individual signers
- It's possible we don't have your GitHub username or you're using a different email address on your commit. Check your existing CLA data https://cla.developers.google.com/clas and verify that your email is set on your git commits https://help.github.com/articles/setting-your-email-in-git/.
Corporate signers
- Your company has a Point of Contact who decides which employees are authorized to participate. Ask your POC to be added to the group of authorized contributors. If you don't know who your Point of Contact is, direct the Google project maintainer to go/cla#troubleshoot (Public version https://opensource.google.com/docs/cla/#troubleshoot).
- The email used to register you as an authorized contributor must be the email used for the Git commit. Check your existing CLA data https://cla.developers.google.com/clas and verify that your email is set on your git commits https://help.github.com/articles/setting-your-email-in-git/.
- The email used to register you as an authorized contributor must also be attached to your GitHub account https://github.com/settings/emails.
— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/googlecartographer/cartographer_turtlebot/pull/94#issuecomment-402033901, or mute the thread https://github.com/notifications/unsubscribe-auth/ADfwr9eimTijVyHsvoYigYIvtgdDd9Ztks5uCxa2gaJpZM4VAZUr .
I think the angular velocity regarding to x and y axis is useless, in the case of 2d mapping. Maybe these values are omitted in the latest cartographer if
use_trajectory_builder_2d
is true.However, we are trying to use the debianized cartographer in ros kinetic distro, which is based on version 0.2.0, and I found that the horizontal angular velocity effects significantly on the localization as shown in the following GIF.![old_cartographer_without_acml](https://user-images.githubusercontent.com/3666095/42203475-d03aa8fa-7ed9-11e8-8c41-c55beee0910a.gif)
After applying this commit, the localization is improved a lot as shown in the following GIF.![old_cartographer_without_xy_gyro](https://user-images.githubusercontent.com/3666095/42203581-3547e8b6-7eda-11e8-96b7-9dafdb9b6513.gif)
Please think about to merge this commit.