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rsasaki0109 avatar rsasaki0109 commented on July 23, 2024

If you enter odometry (vehicle speed and imu) into pcl_localization_ros2
, odometry will be used as the initial value during scan matching, making it more resistant to rotation.
If Odometry is used, use_odom must be set to true.

For IMU only, there are currently no parameters for support.
If you want to improve it, you can update the following pose based on the IMU values.
https://github.com/rsasaki0109/pcl_localization_ros2/blob/main/src/pcl_localization_component.cpp#L376

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rsasaki0109 avatar rsasaki0109 commented on July 23, 2024

Changing the ndt_resolution and voxel grid filter parameters may help.
Is the environment indoors or outdoors?

Also, in general, GICP is more resistant to rotation than NDT.
(Because the point cloud is delimited by voxels, it is difficult to map voxels during rotational motion.)

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rsasaki0109 avatar rsasaki0109 commented on July 23, 2024

Since there are no activities, I will close this issue for now. If there is anything else, please reopen this issue.

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