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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
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multiple floors errors #194

Open bulinx opened 3 years ago

bulinx commented 3 years ago

Hello! Thanks for this awesome framework!

I tried to use the hdl-graph-slam of the devel branch to run my multi-floor, the effect is as follows: hdl-floor

  1. I always thought it was the reason for the floor_detection. When I set it to flase in the launch file, the effect did not change.
  2. Is it due to the existence of loopback? But I used other slam projects with loopbacks and did not show this effect like it.
  3. my platform: velodyne-16, 6-imu, and run four flights of stairs in a ros melodic environment. Should I pay attention to the loopback modification so that it can work well in my multi-floor?

Hope you can give me some guidance, thank you very much！

georgea96 commented 2 years ago

I have a similar issue did you manage to resolve it? The point-cloud is tilting and the point cloud data seem to have an angle offset in the z-direction. I did not have this error either when using hector slam so it must be related to this package using a similar setup with VLP-16.