multiple floors errors

[bulinx]

Hello! Thanks for this awesome framework!

I tried to use the hdl-graph-slam of the devel branch to run my multi-floor, the effect is as follows:

1. I always thought it was the reason for the floor_detection. When I set it to flase in the launch file, the effect did not change.
2. Is it due to the existence of loopback? But I used other slam projects with loopbacks and did not show this effect like it.
3. my platform: velodyne-16, 6-imu, and run four flights of stairs in a ros melodic environment. Should I pay attention to the loopback modification so that it can work well in my multi-floor?

Hope you can give me some guidance, thank you very much！

[georgea96]

I have a similar issue did you manage to resolve it? The point-cloud is tilting and the point cloud data seem to have an angle offset in the z-direction. I did not have this error either when using hector slam so it must be related to this package using a similar setup with VLP-16.