Google Cartographer tuning

asked 2019-07-16 03:51:58 -0500

S.Yildiz gravatar image

I have problems with the tuning of my cartographer. I am using a pico monsta 3d camera. I am filtering the point cloud in order to get just one level of points. My big problem is when I rotate the vehicle the point clous is at first correct orientated, but then the map is really broken. It seems that there is something wrong with the loop closure. And I do not use imu by the way. Here are two pics: The first one is correct. This is the first rotation to the right and left but after a while it draws the map different.image description image description

Here is my rosbag_validate if it helps you:

My launch_file:

My config_file:

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