search

koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
1.98k stars 726 forks source link

Lidar Oriented at 45 degrees or more #225

Open aliimranTW opened 2 years ago

aliimranTW commented 2 years ago

Hi,

I am deploying my robotic system in an agricultural field where the lidar is oriented at an angle ranging between 45 to 90 degrees. Being an outdoor environment, I have a GPS deployed as well. I tried implementing hdl_graph_slam_400 but the robot follows an unexpected path and as a result the map built is completely wrong. Please find the attached picture. Is it because of the orientation of the lidar? enable_gps has been switched to true as well.

issue_hdl1

SierdMeijer commented 2 years ago

Hi @aliimranTW Did you find a solution to this problem?