[Cartographer 3D SLAM] map frame wobbles
Hello all! I've been working on 3D SLAM with Cartographer. I'm using an IMU and a 3D liadr as inputs. Seeing them on RViz, Inputs looks good, but I'm having trouble tuning it. When I run Cartographer, map frame starts wobble all around the place even It's not actually moving. (The wobble is only about its x,y,z translation. It follows the rotation of the robot quite well.) I could kind of resolve this issue by "making translation_weight" high, but It makes localization too slow. When I move the test setup a meter, It takes about 5 seconds for Cartographer to localize its new position. Is there any other way to stop this wobble? I'm including this rosbag validation result below. Thanks in advance!
I0513 21:51:46.374287 24742 rosbag_validate_main.cc:399] Time delta histogram for consecutive messages on topic "/imu" (frame_id: "imu_link"):
Count: 1554 Min: 0.0268833 Max: 0.029015 Mean: 0.0278073
[0.026883, 0.027096) #### Count: 286 (18.4041%) Total: 286 (18.4041%)
[0.027096, 0.027310) Count: 4 (0.2574%) Total: 290 (18.6615%)
[0.027310, 0.027523) Count: 0 (0%) Total: 290 (18.6615%)
[0.027523, 0.027736) Count: 0 (0%) Total: 290 (18.6615%)
[0.027736, 0.027949) ## Count: 165 (10.6178%) Total: 455 (29.2793%)
[0.027949, 0.028162) ############## Count: 1095 (70.4633%) Total: 1550 (99.7426%)
[0.028162, 0.028375) Count: 0 (0%) Total: 1550 (99.7426%)
[0.028375, 0.028589) Count: 0 (0%) Total: 1550 (99.7426%)
[0.028589, 0.028802) Count: 0 (0%) Total: 1550 (99.7426%)
[0.028802, 0.029015] Count: 4 (0.2574%) Total: 1554 (100%)
I0513 21:51:46.374531 24742 rosbag_validate_main.cc:399] Time delta histogram for consecutive messages on topic "/yrl_pub/yrl_cloud" (frame_id: "laser"):
Count: 950 Min: 0.0453468 Max: 0.0455587 Mean: 0.0454546
[0.045347, 0.045368) Count: 3 (0.315789%) Total: 3 (0.315789%)
[0.045368, 0.045389) # Count: 36 (3.78947%) Total: 39 (4.10526%)
[0.045389, 0.045410) ## Count: 109 (11.4737%) Total: 148 (15.5789%)
[0.045410, 0.045432) # Count: 49 (5.15789%) Total: 197 (20.7368%)
[0.045432, 0.045453) ##### Count: 231 (24.3158%) Total: 428 (45.0526%)
[0.045453, 0.045474) ####### Count: 314 (33.0526%) Total: 742 (78.1053%)
[0.045474, 0.045495) # Count: 58 (6.10526%) Total: 800 (84.2105%)
[0.045495, 0.045516) ## Count: 83 (8.73684%) Total: 883 (92.9474%)
[0.045516, 0.045537) # Count: 59 (6.21053%) Total: 942 (99.1579%)
[0.045537, 0.045559] Count: 8 (0.842105%) Total: 950 (100%)
