koide3

Just to confirm, can you do ```rosparam get use_sim_time``` and check if use_sim_time is surely set to false?

> I will try to recover the imu rate to 200hz, but meanwhile would like to check any special requirement that hdl_localization needs for IMU? This internal imu output is...

To use wheel odometry data, you need to publish the transformation between ```odom``` and ```sensor``` frames on TF. Then, set ```enable_robot_odometry_prediction``` to ```true```. https://github.com/koide3/hdl_localization/blob/master/launch/hdl_localization.launch

Hi @improve100 , Could you please describe in detail?

It is a flag to convert a map saved in the UTM coordinate. If you set ```utm==false``` when the map is saved, the map is saved in the local coordinate,...

Hi @HaoyunXu , If it is enabled, all IMU data will be inverted (multiplied by -1). It was made for backward compatibility with a specific sensor. I think I will...

Yes, the acc and gyro in the bag are inverted, and thus ```invert_imu_acc``` and ```invert_imu_gyro``` need to be enabled. ```plot_status.py``` is useful to validate the IMU directions that plots prediction...

Hi @HappySamuel , It may be worth trying play the bag file slowly to find the cause. Can you try like "rosbag play --clock -r 0.25"?

At this moment, the plane detection algorithm is very naive, and we need to fine-tune some parameters depending on the environment. To detect large walls in ```centrainr_graph``` dataset, try to...

> I find I click the same place‘s point, the point's coordinate is different very much when zoom in and zoom out。And when rotate the screen ， the same point...