Open cmakelabs opened 1 month ago
Hi there, most likely it diverges when only IMU messages are considered. Did you implement the buffer https://github.com/ethz-asl/rio/issues/6 ?
Have not got time unfortunately, will ping you with pull-request once I got time to do it
I think a buffer will solve the problem with early arriving radar messages. I may have time to implement it at some point as well. You can contact me by mail at brik@ethz.ch, and I can look at your data set.
Thank you very much, I have sent you an email with the dataset attached
Any updates on the buffers @rikba?
While
rio
runs well on the provided datasets, however when I try to launch it with my ownrosbag
, the estimate position and velocity seem to increase very rapidly, and converge to wrong numbers, as the robot real speed is0.5 m/s
(while the ones shown below will increase indefinitely as the bag is playing) :There is also this series of warnings, that I could not debug properly, as the timings seem to be too close and the mismatch is only in the last fractions of time, not sure if this what causing the wrong estimation:
Would sincerely appreciate your answer