Graph not updated, anyone Help please

koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR

BSD 2-Clause "Simplified" License

775 stars 309 forks source link

Graph not updated, anyone Help please #43

Closed ipinyulun closed 4 years ago

ipinyulun commented 4 years ago

Hi @koide3, anyone i have little problem here with the alignment aligned_points was unable to align with the map.

what im using was only velodyne vlp 16 and there is no change on the code part.

i did saw one silimar case, on closed case, however it was on hdl_400 rosbag since im not using rosbag and its on my own, i cant apply the solution about slowing down the playback speed.

here is the complete video https://www.youtube.com/watch?v=DcGqOhGzQDU&t=3s

ipinyulun commented 4 years ago

green color = align pcl gray color = map pcl rainbow color = velodyne point

from the picture. as i move the device. it seems like the cloud successfully aligned to map but somehow the velodyne pcl was far off.. it getting worse as i move farer it seems like its not updated.

could someone help me on this?

ipinyulun commented 4 years ago

the solution is simple. just turn off imu in launch file. newbie problem.