some question about using on bipedal robot

rsasaki0109 / lidarslam_ros2

ROS 2 package of 3D lidar slam using ndt/gicp registration and pose-optimization

BSD 2-Clause "Simplified" License

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some question about using on bipedal robot #100

Open 104kpf opened 4 weeks ago

104kpf commented 4 weeks ago

While using this package on a bipedal robot, the /current_pose arrow and path keep oscillating and eventually diverge.

I have also used this on a mobile robot, and although the same issue occurs (small oscillating), it still functions adequately.

If you have any insights, I would greatly appreciate your assistance. Thank you in advance.

Screenshot 2024-11-01 19 27 15

rsasaki0109 commented 3 weeks ago

Sorry, I just noticed your issue. I think with a bipedal robot, vibration likely causes scan matching to fail more easily. I recommend adjusting the parameters or using another package that incorporates IMU data.