YeongSeok Hwang

Hi, @Zahra-Farajzadeh I think wrong imu-lidar calibration is the reason. When i change extrinsicRot by unit matirx, odometry looks a bit shaky, but the above issue has been resolved.

Hi, @Zahra-Farajzadeh. I'm sorry for the late reply. I think you should modify gpsCovThreshold and poseCovThreshold params. Also you can check(debug) gps data in "mapOptimization.cpp" (Especially "addGPSFactor" function) I'm sorry...

This is my case. If you look at this picture, you can see the difference between gps odometry and imu odometry. (The small axis is imu odometry, and the relatively...

Hi, @gertrnn. Please check “savePCD” param in params.yaml

@gertrnn, I would like to know in detail whether the issue lies with odometry not being published correctly, loop closing not being performed properly, or if there is another problem....