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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
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After launching hdl graph slam keyframe goes crazy #106

Open DEUSTU opened 4 years ago

DEUSTU commented 4 years ago

Hello, I am trying hdl graph slam in my own system with a VLP16. I configure launch file as i see in readme file but when i run it with lidar in a stationary position i see in rviz how keyframe moves without sense generating a map shifted. I dont know why keyframe is always changing his position if velodyne is not moving. I read other issues and i see that maybe can be solved if i increase keyframe delta time in the launch file but in my case, nothing happens.

¿Can anyone help me?

Here you have screenshots to watch my problem.

Screenshot from 2020-02-18 09-56-09 Screenshot from 2020-02-18 09-56-44 Screenshot from 2020-02-18 09-57-03 Screenshot from 2020-02-18 09-57-11

Thank you all!

LiangtaoZhong commented 3 years ago

I meet same problem. Did you solve this problem? Thanks!!