3D map tilted , how to fix it ?

[chrissunny94]

I build a 3D map using hdl_graph_slam and i am able to relocalize using the 3D map using hdl_localization module .

But the 3D map is tilted for some reason , what could be the reason for this ?

[Navifra-Rich]

There's a two-year period between questions and answers, which won't help you Leave an answer for someone else.

you have to manipulate option in hdl_graph_slam when you build map.

In hdl_graph_slam.launch file,

<arg name="enable_floor_detection" default="false" /> -> change "true"

<node pkg="nodelet" type="nodelet" name="floor_detection_nodelet" args="load hdl_graph_slam/FloorDetectionNodelet $(arg nodelet_manager)" if="$(arg enable_floor_detection)">
    <param name="points_topic" value="$(arg points_topic)" />
    <param name="tilt_deg" value="0.0" />
    <param name="sensor_height" value="2.0" />      -> Change to fit your sensor height
    <param name="height_clip_range" value="1.0" />
    <param name="floor_pts_thresh" value="512" />   -> Change to fit your environment (i set 50)
    <param name="use_normal_filtering" value="true" />
    <param name="normal_filter_thresh" value="20.0" />
  </node>