Riccardo Bertoglio

HDL gives you just mapping and localization algorithms. If you want to go autonomously from point A to B you need a path planner on top of HDL. If you...

Thank you for your answer and congrats for the paper because it's very well-written :) Btw, I've seen the constant observation noise covariance numbers that you put in the code....

So, basically you get rid of the covariance values from the imu_data msgs, right? I have your same setting: a Velodyne HDL 32E and IMU msgs from the Velodyne embedded...

No, sorry. If I remember correctly in the end I've just chose for the localization without IMU.

Hi @Nova555 , do you have the "-1" in the first position of the orientation_covariance vector of your IMU message?

When you say that no constraints are made... isn't the loop closure a constraint added to the pose graph? Thus, it is normal to see a shift in the transformation...

Here are my suggestions/ideas: ``` Legenda: [***] - High priority [**_] - Medium priority [*__] - Low priority ``` - [***] Implement a matching algorithm for words (author's keywords, etc.)...