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For the first point I need more information,

but I had problems with a bad calibrated IMU causing my Map to rotate. Can you check your sensor readings? Maybe one of your sensors is sending garbage values. But since you are not using the odometrie that actually should not cause the error.

Could you try to use only the ouster lidar?

In general you should also read more about SLAM. SLAM is possible even with lidar only , the key technology or better algorithm enabling SLAM is scan matching. You match the two point clouds after two scans and calculate the translation and delta orientation between them. Lidar only is often used for 2D-Slam algorithms.

So even without Odom and just Lidar and Imu you should be able to perform 3D slam.

For the first point I need more information,

but I had problems with a bad calibrated IMU causing my Map to rotate. Can you check your sensor readings? Maybe one of your sensors is sending garbage values. But since you are not using the odometrie that actually should not cause the error. Can you record your data and use the validate rosbag?

Could you try to use only the ouster lidar?

In general you should also read more about SLAM. SLAM is possible even with lidar only , the key technology or better algorithm enabling SLAM is scan matching. You match the two point clouds after two scans and calculate the translation and delta orientation between them. Lidar only is often used for 2D-Slam algorithms.

So even without Odom and just Lidar and Imu you should be able to perform 3D slam.