How can I get better position data?

[slamvil]

Hey, I'm trying to integrate the SLAM into my project. I use simulated LiDAR data for SLAM usage. For this purpose, a test track is driven on several times. I use the /odom topic to receive the position data. I have noticed that the position data gets worse the more laps are driven. In optimal conditions I have a deviation of several meters. Now I tried to get the corrected position data from the /hdl_graph_slam/markers topic, because they contain the corrected position values. These values ​​are significantly better than those of the /odom topic, but the performance in terms of real-time capability is a lot worse. Is it possible to get the corrected position data in another way?

Many thanks for your help.

[colconbator]

Hello, I am new to ros can I know how you solved the error while launching the hdl slam launch file because I am getting an error that such type of launch file doesnt exist