koide3

I recommend taking a look at Eqs (2) - (16) in the following tutorial that nicely explains the derivation of Gauss-Newton. http://www2.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10titsmag.pdf

Actually, it is a general problem in sensor fusion; it is very difficult (or impossible) to estimate a true meaningful covariance through MLE. For example, in our case, we have...

Thanks for reporting the bug. https://github.com/koide3/glim/pull/218 should fix the issue.

For now, you need to change the hardcoded names in https://github.com/koide3/glim_ros2/blob/973f1956d9090ae48d231aea1c01defce7fb1413/src/glim_ros/rviz_viewer.cpp#L18 . You can set a dummy frame name to `imu_frame_id` and connect it with `base_footprint`. I'm recognizing this a...

I added parameters to change TF frame names https://github.com/koide3/glim_ros2/pull/28 .

No, localization on a prior map is not included in GLIM. We have another [closed code](https://koide3.github.io/glil_pubdoc/) for this purpose.

Make sure that you installed [NVIDIA container toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html).

Can you see nvidia driver information with the following command? If not, there should be some issues in docker setup. `docker run --gpus all nvidia/cuda:12.2.0-devel-ubuntu22.04 nvidia-smi`

Can you check and try the following? - CMake options for GTSAM were set as following [the installation instruction](https://koide3.github.io/glim/installation.html) - GTSAM and gtsam_points were placed outside ros2_ws and built and...

These errors are typically caused by installing a wrong version of GTSAM. Please check the installed GTSAM version with: ```bash ls /usr/local/lib/libgtsam* # /usr/local/lib/libgtsam_points_cuda.so /usr/local/lib/libgtsam.so /usr/local/lib/libgtsam.so.4.2.0 /usr/local/lib/libgtsam_unstable.so.4 # /usr/local/lib/libgtsam_points.so /usr/local/lib/libgtsam.so.4...