IMU topic: /zed2i/zed_node/imu/data on zed2i_imu_link frame (just add the following to the urdf)
Data was collected in a heavily wooded residential park. Sensors are mounted on top of a Unitree A1 quadruped. The lidar is VLP16, and the IMU data was collected from the ZED2i stereo camera at ~400Hz. The robot walked for ~700 seconds at around 3 km/h in a big loop. The robot returns to the starting point, but in the reverse direction.
At around 2:10, the robot returns to the starting position from the reverse direction, and the loop does not close. I tried tweaking the "Loop closure" parameters in the config file to no avail.
Do you have any suggestion on what parameters to tweak, etc?
I saw that at the bottom of the readme, one of the todo items seems be related to this. Is there any update on that? I hope at the very least this data can be helpful in that regard.
Setup description:
/velodyne_points
onvelodyne
frame/zed2i/zed_node/imu/data
onzed2i_imu_link
frame (just add the following to the urdf)Data was collected in a heavily wooded residential park. Sensors are mounted on top of a Unitree A1 quadruped. The lidar is VLP16, and the IMU data was collected from the ZED2i stereo camera at ~400Hz. The robot walked for ~700 seconds at around 3 km/h in a big loop. The robot returns to the starting point, but in the reverse direction.
Relevant parameter changes:
Problem Description
Video: https://www.youtube.com/watch?v=i9tzco-p2Zs
Video was recorded with data playback x5.
At around 2:10, the robot returns to the starting position from the reverse direction, and the loop does not close. I tried tweaking the "Loop closure" parameters in the config file to no avail.
Do you have any suggestion on what parameters to tweak, etc?
I saw that at the bottom of the readme, one of the todo items seems be related to this. Is there any update on that? I hope at the very least this data can be helpful in that regard.