ZOUJIASHUAI

@carlosmccosta the localization topic also seems have Zaxis drift.

@carlosmccosta hello, I do use the [dynamic_robot_localization_system.launch],and below is the launch parameter.

hello @carlosmccosta this is my param,please check if anything wrong,I need a consecutive pose for navigation so I subscribed the tf (map->laser),I also found that the tf have x y...

hello @carlosmccosta I found another problem from drl,my odom is accurate so I read the map->laser tf to navigation,and the pose will jump to far a way if the map...

@carlosmccosta below is the param I set ************************initial_pose_estimation_2d*********************************************************** normal_estimators: reference_pointcloud: display_normals: false display_occupancy_grid_pointcloud: false flip_normals_using_occupancy_grid_analysis: true occupancy_grid_analysis_radius_resolution_percentage: 4.0 normal_estimator_sac: model_type: 'SACMODEL_LINE' method_type: 'SAC_RANSAC' inlier_distance_threshold: 0.06 max_iterations: 50 sac_termination_probability: 0.99 optimize_coefficients:...

Hi @koide3, for example, can I just stop publish the gps info if the robot enter an indoor environment(50m*50m),and keep send gps info when the robot go out ?

hello @carlosmccosta my odom is accurate，in odom topic I set 0 to angular_velocity and oritation in X Y axis,and set ignore_height_corrections: true, and it doesnt have roll pitch and Zaxis...

> CorrespondenceEstimation hello @carlosmccosta I have copy [cluttered_environments_dynamic_large_map_2d.yaml] and [recovery_2d.yaml] to the drl and change the [correspondence_estimation_approach] in cluttered_environments_dynamic_large_map_2d.yaml to CorrespondenceEstimation,as you can see the link below,the problem still exist,I...

> CorrespondenceEstimation @carlosmccosta I found out that the /dynamic_robot_localization/aligned_pointcloud frame id is map,however the /dynamic_robot_localization/ambient_pointcloud frame id is odom,but the /dynamic_robot_localization/localization_detailed frame is map,

> > CorrespondenceEstimation > > @carlosmccosta I found out that the /dynamic_robot_localization/aligned_pointcloud frame id is map,however the /dynamic_robot_localization/ambient_pointcloud frame id is odom,but the /dynamic_robot_localization/localization_detailed frame is map, @carlosmccosta looks like...