Comments (17)
I sent you again few seconds ago
from lidar_localization_ros2.
In my test I did not use imu data
Here is my parms:
`
/**:
ros__parameters:
registration_method: "GICP"
ndt_resolution: 1.0
ndt_step_size: 0.1
transform_epsilon: 0.01
voxel_leaf_size: 1.0
scan_max_range: 100.0
scan_min_range: 1.0
scan_period: 0.1
use_pcd_map: true
map_path: "/home/terra/ros2_ws/src/pcl_localization_ros2/map/map.pcd"
set_initial_pose: true
initial_pose_x: 0.0
initial_pose_y: 0.0
initial_pose_z: 0.0
initial_pose_qx: 0.0
initial_pose_qy: 0.0
initial_pose_qz: 0.0
initial_pose_qw: 1.0
use_odom: false
use_imu: false
enable_debug: false
`
from lidar_localization_ros2.
Indoors, the following parameters should be reduced.
ndt_resolution (0.5 - 2.0 [m] )
voxel_leaf_size(0.1~1.0[m])
It might also be a good idea to set registration_method to NDT.
Also, is the initial pose correct?
from lidar_localization_ros2.
By the way, which package and which lidar did you use to create the map point cloud?
from lidar_localization_ros2.
Indoors, the following parameters should be reduced.
ndt_resolution (0.5 - 2.0 [m] ) voxel_leaf_size(0.1~1.0[m])
It might also be a good idea to set registration_method to NDT.
Also, is the initial pose correct?
registration_method to NDT also will drift.
I record a bag use velodyne 16p. use your slam bag to create a pcd map,and then play the lidar bag to test the localization.
from lidar_localization_ros2.
By the way, which package and which lidar did you use to create the map point cloud?
I record a bag use velodyne 16p. use your slam bag to create a pcd map,and then play the lidar bag to test the localization.
from lidar_localization_ros2.
By the way, which package and which lidar did you use to create the map point cloud?
I record a bag use velodyne 16p. use your slam bag to create a pcd map,and then play the lidar bag to test the localization.
give me a email I can share you my lidar data and the pcd file
from lidar_localization_ros2.
You might want to set voxel_leaf_size to 0.1 or 0.5.
from lidar_localization_ros2.
What is the SLAM you used, is it OSS?hdl_graph_slam?lio-sam?lidarslam_ros2?
You can share pcd and rosbag for me to see.
My email address is below.
[email protected]
from lidar_localization_ros2.
What is the SLAM you used, is it OSS?hdl_graph_slam?lio-sam?lidarslam_ros2?
You can share pcd and rosbag for me to see. My email address is below. [email protected]
lidarslam_ros2
from lidar_localization_ros2.
If lidarslam_ros2 is also parameterized for indoor use, a more accurate map can be produced.
from lidar_localization_ros2.
Hi author have you received my pcd and rosbag?
from lidar_localization_ros2.
I have not received those yet.
from lidar_localization_ros2.
@rsasaki0109 were you able to reproduce the pose drift?
from lidar_localization_ros2.
The following parameters allow for some localization indoors.
However, localization breaks down where there is not much of a point cloud
If you add a time series filter such as Kalman filter, it may be less likely to fail.
/**:
ros__parameters:
registration_method: "NDT"
ndt_resolution: 1.0
ndt_step_size: 0.1
transform_epsilon: 0.1
voxel_leaf_size: 0.1
scan_max_range: 10.0
scan_min_range: 0.1
scan_period: 0.1
use_pcd_map: true
map_path: "/home/autoware/Downloads/pcd_loc_ros2/map.pcd"
set_initial_pose: true
initial_pose_x: 0.0
initial_pose_y: 0.0
initial_pose_z: 0.0
initial_pose_qx: 0.0
initial_pose_qy: 0.0
initial_pose_qz: 0.0
initial_pose_qw: 1.0
use_odom: false
use_imu: false
enable_debug: true
I tried setting registration_method: "GICP" and reducing voxel_leaf_size in various ways, but it didn't seem to work.
from lidar_localization_ros2.
The following parameters allow for some localization indoors. However, localization breaks down where there is not much of a point cloud If you add a time series filter such as Kalman filter, it may be less likely to fail.
/**: ros__parameters: registration_method: "NDT" ndt_resolution: 1.0 ndt_step_size: 0.1 transform_epsilon: 0.1 voxel_leaf_size: 0.1 scan_max_range: 10.0 scan_min_range: 0.1 scan_period: 0.1 use_pcd_map: true map_path: "/home/autoware/Downloads/pcd_loc_ros2/map.pcd" set_initial_pose: true initial_pose_x: 0.0 initial_pose_y: 0.0 initial_pose_z: 0.0 initial_pose_qx: 0.0 initial_pose_qy: 0.0 initial_pose_qz: 0.0 initial_pose_qw: 1.0 use_odom: false use_imu: false enable_debug: trueI tried setting registration_method: "GICP" and reducing voxel_leaf_size in various ways, but it didn't seem to work.
thanks for your test and reply
from lidar_localization_ros2.
Using ndt_omp has prevented loss of localization
Addition ndt_omp PR
#31
from lidar_localization_ros2.
Related Issues (20)
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