msf data too old - Githubissues

koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM

BSD 2-Clause "Simplified" License

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msf data too old #213

Open wongkenchiang97 opened 2 years ago

wongkenchiang97 commented 2 years ago

Hi, I'm running "_hdl_graph_slam400.launch" with my bagfile. Sometimes the SLAM optimized results was good, but sometimes was bad.

In launch file, my "_enable_imu__" options are "false". In bag file I have used "--clock" argument and didn't remap imu msg. msf_data_too_old

Has anyone also encounter this issue? Could this error affect the optimization results?

don-thomas commented 2 years ago

I was able to fix this problem by doing the following:

sudo apt install libgoogle-glog-dev 
cd ~/ros_workplace/src
git clone https://github.com/ethz-asl/ethzasl_msf.git
cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release