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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
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Some issues while running imu example #226

Open DaddyWesker opened 2 years ago

DaddyWesker commented 2 years ago

Hello and thanks for your code.

I've been trying to run some examples on your code for a while and got some strange results with imu example. I've been using kitti sequence which I've transformed into rosbag using kitti2bag python lib.

  1. When i'm launching roslaunch hdl_graph_slam hdl_graph_slam_imu.launch I'm getting 
    ERROR: cannot launch node of type [msf_updates/pose_sensor]: msf_updates
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/daddywesker/catkin_ws/src
ROS path [2]=/opt/ros/noetic/share

    Don't know if this is fine, though node won't abort.

  2. When I'm launching then rosbag with rosbag play --clock kitti_2011_09_29_drive_0071_synced.bag /kitti/velo/pointcloud:=/velodyne_points /kitti/oxts/imu:=/imu/data I'm seeing that for some reason after first iter of map creation it won't update at all. I've recorded a video of what i'm doing and what i'm getting (no comments).

https://drive.google.com/file/d/185nHqUYEN4Jls-flWDYpEYPDkF7asC3L/view?usp=sharing

SO, am i doing something wrong or does it supposed to be like this?

I'm using linux Mint 20.1

koide3 commented 2 years ago

To use the IMU feature, you need to install ethzasl_sensor_fusion. As it's apt package is no longer available for ROS noetic, you would need to build it by yourself.

DaddyWesker commented 2 years ago

Hm, so installation procedure in 4. Installation no longer availiable for noetic? So, i should build it using cmake i guess? Do i need to perform any other actions after installation?

DaddyWesker commented 2 years ago

Alright, I have install this package using installation procedure and nothing has changed. I've tebuilt using catkin_make hdl graph slam among with this ethzasl_sensor_fusion.

yigitboracagiran commented 11 months ago

I git cloned this repo https://github.com/ethz-asl/ethzasl_msf.git for noetic and it worked. But first I couldn't do catkin_make and ı made a quick search and I find that I should clone 2 repo with this repo for to do catkin_make. All the git clones to catkin_ws/src: git clone https://github.com/ethz-asl/glog_catkin.git git clone https://github.com/catkin/catkin_simple.git git clone https://github.com/ethz-asl/ethzasl_msf.git Note: And then probably you should install this (I'm not sure because it was already installed on my computer) sudo apt install libgoogle-glog-dev