Comments (17)
Sorry, I just noticed your comment.
I would like to know more details. For example, whether the environment is indoors or outdoors, or if you have done any parameter tuning for that.
Also, I would like the YAML file. It would be better if there are images or videos of the position estimation.
Setting ndt_num_threads to 0 (meaning maximum allowable threads are used) can sometimes cause problems, so it might be good to adjust it.
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In the indoor environment, my yaml file only changed the input path of the source point cloud for map_path and the number of ndtnum_threads to 4. Other changes may have been made to the point cloud topic and imu topic. The effect is that after opening it, it can be repositioned and registered, but after a period of time, it will occasionally get stuck, and in the end, the positioning will just get stuck. I don't know if there was a problem with the change
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And there is also a strange issue, which is that after changing the number of ndtnum_threads to 4, but the info display result of ROS2 is still 0, which makes me not sure if the subsequent repositioning has undergone multi-threaded acceleration
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In ROS2, you need to rebuild to apply parameter changes.
If you add the --symlink-install option during the build, you no longer need to rebuild.
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But what is the problem with this repositioning getting stuck in the end? Did you encounter this issue while trying out the indoor scene radar
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I'm not quite sure what the problem is, so I'd like to see an image or video.
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I can't view the image. The link is not functioning correctly.
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Just like this
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Can you upload the rviz screen? I'd like to see the map, trajectory, scans, etc.
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The delta angle is large.
By the way, have you been swinging the LiDAR around by hand?
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Yes, I did swing the LiDAR with my hand. Can't I swing it with my hand? If rviz is turned on, then the trajectory is the one I swing the radar with my hand
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When you manually wave LiDAR around, without the combination with IMU, scan matching might fail.
Although I have implemented proper integration options for IMU in SLAM, they aren't yet available in this LiDAR Localization.
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Related Issues (20)
- Pose with Covariance? HOT 2
- is adjustDistortion very important for localization? HOT 3
- IMU Calibration HOT 5
- The link to download the bag is not working HOT 3
- Handling angular velocities HOT 3
- Cannot build in humble of 22.04 HOT 4
- pose drift largely HOT 17
- i can't view map HOT 16
- Using odom HOT 3
- cannot see the map in rviz HOT 9
- The agent cannot turn left or right durning rosbag replay HOT 2
- specifying the lidar frame id HOT 1
- Localization worser then in your lidarslam_ros2 HOT 3
- Use odom tf instead of odom topic HOT 1
- about ros2 humble HOT 2
- Use diffirent sensor like Ouster or etc
- imu preintegration
- CPU占用率爆炸 HOT 3
- Unable to compile on Galactic HOT 7
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