TF drift when use IMU on Cartographer (2D SLAM)

asked 2021-04-11 14:12:13 -0500

Eldar gravatar image

Hello. I want to use my IMU BNO055 on robot to perform 2D SLAM using Google Cartographer and YDLIDAR X4. But when my robot rides, the transform going crazy. Map randomly rotates (i seeing it on RVIZ):

When I use cartographer without IMU, it works properly.

It's not IMU problem because rviz shows me normal IMU transform when I not run Cartographer.

What shoud I check in this situation? If you need any information, configuration files, code, video to recognize the problem, just let me know.

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Hi, i have similar problem. Did you solve this ?

alvinkamal gravatar image alvinkamal  ( 2022-01-27 11:50:59 -0500 )edit