Demo don't work well #1
Description
Hello.
Thank you for a good job.
Your slam do not work well in your demo data in my environment.
How does this demo work?
Are the parameters okay in test.yaml ?
Please advice me.
-
my environment
ros melodic
pcl 1.8 -
mapping result
-
terminal output
deen@deen-ubuntu:~/catkin_ws roslaunch ndt_map test.launch
... logging to /home/deen/.ros/log/9a8042b0-680c-11ea-8de0-a088690b5d10/roslaunch-deen-ubuntu-11559.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://deen-ubuntu:46745/
SUMMARY
========
PARAMETERS
* /map_node/ds_history_size: 0.5
* /map_node/history_fitness_score: 0.3
* /map_node/history_search_num: 25
* /map_node/history_search_radius: 15.0
* /map_node/keyframe_dist: 0.3
* /map_node/loop_closure_enabled: True
* /map_node/max_iters: 30
* /map_node/max_scan_range: 70
* /map_node/min_scan_range: 1
* /map_node/ndt_res: 1.0
* /map_node/step_size: 0.15
* /map_node/use_imu: True
* /map_node/use_odom: True
* /map_node/voxel_leaf_size: 1.0
* /rosdistro: melodic
* /rosversion: 1.14.3
* /tf_b2l_pitch: 0.0
* /tf_b2l_roll: 0.0
* /tf_b2l_x: 0.0
* /tf_b2l_y: 0.0
* /tf_b2l_yaw: 0.0
* /tf_b2l_z: 1.7
* /use_sim_time: True
NODES
/
map_node (ndt_map/map_node)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [11569]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 9a8042b0-680c-11ea-8de0-a088690b5d10
process[rosout-1]: started with pid [11580]
started core service [/rosout]
process[rviz-2]: started with pid [11587]
process[map_node-3]: started with pid [11588]
[ WARN] [1584421428.830847990, 1557902277.384249395]: unsync imu and pc msg
[ WARN] [1584421428.830902623, 1557902277.384249395]: unsync imu and pc msg
[ WARN] [1584421428.830925847, 1557902277.384249395]: unsync imu and pc msg
[ WARN] [1584421428.830937199, 1557902277.384249395]: unsync imu and pc msg
[ WARN] [1584421428.830955647, 1557902277.384249395]: unsync imu and pc msg
……