map brokes when quick move/rotate the lidar. transformation or tuning problem?

[cate1717]

Hi, first of all thank you for sharing this project. I am new in ROS2 and sorry for my mistakes, this is my first issue. My version is Foxy. I am trying to do 3D slam

I followed this guide to install cartographer_ros in ROS2: https://guni91.wordpress.com/2020/12/05/cartographer-ros2-installation/ so these should be my versions: cartographer_ros branch dashing and cartographer branch foxy I am working with an Ouster Lidar OS0-128

i can't run cartographer_rosbag_validate because it is only for ros1.(is it correct?)

my urdf file: https://github.com/wilselby/diy_driverless_car_ROS/blob/master/rover_2dnav/cartographer_ros/urdf/os1_sensor.urdf

this is my launch file: https://github.com/cate1717/cartographer_ros/blob/main/cartographer.launch.py where i add some lines to load the urdf file.

BUT in the rqt_graph, the transformations aren't send to the cartographer node

this is my backpack_3d.lua: https://github.com/cate1717/cartographer_ros/blob/main/backpack_3d.lua

with this dataset: https://drive.google.com/drive/folders/1ZqiZDbiObESI5qC7hx3p4mEWRAAnZsK7?usp=sharing if I move the laser slow i obtain this result:

the problem is that when i move/rotate faster or with not slow changes of directions, the map will be built in a wrong way (it rotate,overlapped,) for examples like this:

i ve already read the documentation, algorithm and tuning methodology.(also tried tuning first 2d slam) so is this a problem with the urdf file and trasformation, or it is a problem about parameters tuning? in this case, anyone has some suggestion? thank you in advance