cartographer map to base_footprint tf variation issue in online mode

[SAURABHRAHATEKAR]

I'm working on an AGV. I have an Ouster os1 sensor. I want to use the cartographer online for 3d mapping for outdoor purposes. The robot base starts rotating and jumping in riz when I run the online mode. But everything works perfectly when using the bag file of the same agv and running it offline with the same lua configuration. here's my Lua configuration:

include "map_builder.lua" include "trajectory_builder.lua"

options = { map_builder = MAP_BUILDER, trajectory_builder = TRAJECTORY_BUILDER, map_frame = "map", tracking_frame = "os_imu", published_frame = "base_footprint", odom_frame = "odom", provide_odom_frame = false, publish_frame_projected_to_2d = false, use_pose_extrapolator = true, use_odometry = false, use_nav_sat = false, use_landmarks = false, num_laser_scans = 0, num_multi_echo_laser_scans = 0, num_subdivisions_per_laser_scan = 1, num_point_clouds = 1, lookup_transform_timeout_sec = 0.2, submap_publish_period_sec = 0.5, pose_publish_period_sec = 10e-3, trajectory_publish_period_sec = 50e-3, rangefinder_sampling_ratio = 1.0, odometry_sampling_ratio = 1.0, fixed_frame_pose_sampling_ratio = 1.0, imu_sampling_ratio = 1.0, landmarks_sampling_ratio = 1.0, }

TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 1 TRAJECTORY_BUILDER_3D.voxel_filter_size = 0.1

TRAJECTORY_BUILDER_3D.motion_filter = { max_time_seconds = 0.5, max_distance_meters = 0.05, max_angle_radians = math.rad(1.0), }

MAP_BUILDER.use_trajectory_builder_3d = true MAP_BUILDER.num_background_threads = 4

POSE_GRAPH.optimization_problem.huber_scale = 5e2 POSE_GRAPH.optimize_every_n_nodes = 320 POSE_GRAPH.constraint_builder.sampling_ratio = 0.1 POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10 POSE_GRAPH.constraint_builder.min_score = 0.55 POSE_GRAPH.constraint_builder.global_localization_min_score = 0.6

return options

I'm also sharing the video links of both offline and online modes: Offline Mode Online Mode Please help.