how to add just imu data to cartographer 2d slam

asked 2019-01-09 06:11:57 -0600

duandb gravatar image

updated 2019-01-10 00:49:46 -0600

jayess gravatar image

hello´╝înow i use imu (jy901) and rplidar to build 2d_map, and no odomtry data , i have edit urdf file and set the lua file like blow, but get bad result:

when i keep imu,laser,and base_link still, get the result below: https://github.com/duandongbin000/myS...

when i move imu,laser,and base_link , get the result below: https://github.com/duandongbin000/myS...

and this is my confi file: https://github.com/duandongbin000/myS...

https://github.com/duandongbin000/myS...

https://github.com/duandongbin000/myS...

https://github.com/duandongbin000/myS...

https://github.com/duandongbin000/myS...

bagfile:: https://drive.google.com/open?id=10jb...

pi@NanoPi-M4:~/catkin_ws$ cartographer_rosbag_validate -bag_filename /home/pi/bagfile/2019-01-10-02-21-49.bag
E0110 05:41:42.833030  1459 rosbag_validate_main.cc:131] Input contains transform message from frame_id "map" to child_frame_id "base_link". This is almost always output published by cartographer and should not appear as input. (Unless you have some complex remove_frames configuration, this is will not work. Simplest solution is to record input without cartographer running.)
W0110 05:41:42.835559  1459 rosbag_validate_main.cc:103] frame_id imu_link time 1547086910329098627: IMU linear acceleration is 0.906778 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration 000.0078125 -0.00341797 0000.906738
W0110 05:41:42.836872  1459 rosbag_validate_main.cc:103] frame_id imu_link time 1547086910363351228: IMU linear acceleration is 1.02101 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration -0.0175781 00.0415039 0001.02002
W0110 05:41:42.837472  1459 rosbag_validate_main.cc:103] frame_id imu_link time 1547086910403365582: IMU linear acceleration is 0.974981 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration -0.0209961 00.0351562 000.974121
W0110 05:41:42.851753  1459 rosbag_validate_main.cc:352] frame_id "map" on topic /scan_matched_points2 has serialization time 1547086912.193658190 but sensor time 1547086912.092375100 differing by -0.101283 s.
E0110 05:41:44.577162  1459 rosbag_validate_main.cc:365] Average IMU linear acceleration is 0.995768 m/s^2, expected is [9.5, 10.5] m/s^2. Linear acceleration data should include gravity and be given in m/s^2.
E0110 05:41:44.578286  1459 rosbag_validate_main.cc:389] IMU data (frame_id: "imu_link") has a large gap, largest is 0.109802 s, recommended is [0.0005, 0.005] s with no jitter.
I0110 05:41:44.578856  1459 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/imu" (frame_id: "imu_link"):
Count: 2846  Min: 0.000053  Max: 0.109802  Mean: 0.046448
[0.000053, 0.011028)                            Count: 2 (0.070274%)    Total: 2 (0.070274%)
[0.011028, 0.022003)                            Count: 6 (0.210822%)    Total: 8 (0.281096%)
[0.022003, 0.032978)                     ###    Count: 382 (13.422347%) Total: 390 (13.703444%)
[0.032978, 0.043952)              ##########    Count: 1446 (50.808151%)    Total: 1836 (64.511597%)
[0.043952, 0.054927)                            Count: 66 (2.319044%)   Total: 1902 (66 ...
(more)
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