koide3

In your setting, is the LIDAR be able to see the ground or ceil? Without observing them such a drift may happen. If you can put a screenshot here, it...

Hi, Can you try to increase "keyframe_delta_time" in your launch file to a large number (e.g., 10000)? This parameter prevents the scan matching from stucking, but I suppose it may...

Hi @nyangshawbin , It might be due to some errors in NDT. It's worth trying to use GICP instead of NDT_OMP because I recently found that GICP in PCL 1.8...

@Johntec , UTM coords can be very huge and visualization apps often fail to directly handle them. To avoid this problem, I shift UTM coords so that the very first...

It depends on the equipment (GPS, IMU, etc) and the environment

Hi @RickHutten In this system, we intentionally developed the slam and scan_matching_odometry nodelets as separated modules so that we can replace scan_matching_odometry with another good one to obtain odometry. It's...

Hi @Blackshaddock, You may want to tune the following params which have a big impact on the mapping result: - registration_method: NDT_OMP or GICP (note that GICP in PCL 1.7...

Hi @GLkode, The new framework (interactive_slam) is built on top of hdl_graph_slam. You first create a map with hdl_graph_slam (or any other ROS package), then you can edit the created...

Hi @GLKode , Thanks a lot. I try to provide more information: In scan_matching_odometry_nodelet, we apply a scan matching method between consecutive input frames to estimate the sensor ego-motion. In...

Hi @GLKode , It doesn't matter. I'd be glad if you could do it in your spare time... > in the PoseEstimater, I must set the previous_frame as segistration->setInputSource(previous_frame); >...