cartographer_rosbag_validate E0407

asked 2020-04-07 01:24:23 -0500

luchko gravatar image

updated 2020-04-07 02:24:22 -0500

Hi, I'm trying to improve my cartographer based SLAM algorithm accuracy. I've found the cartographer_rosbag_validate tool very usefull, but I can't understand error codes which it is serving me (eg. can't fin in documentation, any hint?).

I'm using an EKF to fuse IMU + wheel odom data and a 3Dcam + depthimage_to_laserscan to get all cartographer need to compute a map.

I'm upoading my rosbag but it's taking so long time ... I'll edit my post. Waiting fot that, see output of cartographer_rosbag_validate below.

Here are my questions :

a. A lot of messages are related to linear_acceleration ranges. SOme are saying that IMU linear acceleration should include grabity (mine does not, it's gravity corrected). Can someone pease validate that I have to change my linear acceleration source to incude gravity?
b. I have forgottent to shut down SLAM node, sorry, I found that there was no difference between a rosbag with and without SLAM activated in my case except the warning message.
c. I can't understand seriaization versus sensor time issue, I think it's only bag related, can someone validate that ?

edit: d. as I use ekf to publish odom filtered from IMU + odom data, why is cartographer calidating imu data ???

Thanks a lot !!!

NB: this message is cross posted here : cartographer-project/cartographer_ros#1463

2. W0407 08:06:36.038357  2480 rosbag_validate_main.cc:103] frame_id imu_link time 1586238017813064911: IMU linear acceleration is 0.284562 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration -0.00980665 00000000000 00-0.284393            
3. W0407 08:06:36.045403  2480 rosbag_validate_main.cc:103] frame_id imu_link time 1586238017913191564: IMU linear acceleration is 0.323768 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration 00000000000 -0.00980665 00-0.323619            
4. W0407 08:06:36.046106  2480 rosbag_validate_main.cc:103] frame_id imu_link time 1586238018042635696: IMU linear acceleration is 0.343233 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration 000000000 000000000 -0.343233            
5. W0407 08:06:36.195047  2480 rosbag_validate_main.cc:352] frame_id "simulated_laser_link" on topic /scan has serialization time 1586238029.376049862 but sensor time 1586238029.269079685 differing by -0.10697 s.            
6. E0407 08:06:37.096662  2480 rosbag_validate_main.cc:350] frame_id "simulated_laser_link" on topic /scan has serialization time 1586238038.636076503 but sensor time 1586238038.132888317 differing by -0.503188 s.            
7. E0407 08:06:37.116626  2480 rosbag_validate_main.cc:350] frame_id "simulated_laser_link" on topic /scan has serialization time 1586238038.727996767 but sensor time 1586238038.199559689 differing by -0.528437 s.            
8. E0407 08:06:37.142482  2480 rosbag_validate_main.cc:350] frame_id "simulated_laser_link" on topic /scan has serialization time 1586238038.821496610 but sensor time 1586238038.266326666 differing by -0.55517 s.            
9. E0407 08:06:37.225215  2480 rosbag_validate_main.cc:131] Input contains transform message from frame_id "map" to ...
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Comments

NB: this message is cross posted here : cartographer-project/cartographer_ros#1463

+100 for telling us, but it would seem you've posted that at almost the exact same time.

Please do not do that. It will lead to split discussions in the best case, and duplication of effort in the worst case.

gvdhoorn gravatar image gvdhoorn  ( 2020-04-07 02:21:02 -0500 )edit

Oops, sorry !!! Which one should I delete ? Edit : that does not realy help me although ;)

luchko gravatar image luchko  ( 2020-04-07 03:32:11 -0500 )edit