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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
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Mapping error when using imu. #261

Open lidarmansiwon opened 1 year ago

lidarmansiwon commented 1 year ago

There is a imu error that occurs when using the mapping. Do I need to modify the msf_config.yaml file? It is currently using Lord 3DM and imu 9-axis ousters. The error is as shown in the picture below. Please help me

Untitled (1)

Locosaac commented 4 months ago

I am not 100% sure, but I think you may have some issues with the acceleration. The normal z-axis acceleration is -9.8m/s^2 so it's probably taking that into account. A Kalman filter might be needed. Or some configuration changes. Perhaps you could parse out the z-acceleration.

just spitballing ideas because I didn't see any answers.