Cartographer 2D generates wrong map
Hello All,
I am new to cartographer and am trying to generate a map for my data using it. I have a VLP-16 sensor and I make ue of the VLP16_points.launch file in velodyne_pointcloud package to generate a laserscan for the specific ring. When I run 2D cartographer on this laserscan, my map is static (submaps are overwritten at the same point and the trajectory path is stationary) although my sensor is mounted on a car that is in motion.
Lua file:
include "map_builder.lua"
include "trajectory_builder.lua"
options = { map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "base_link",
published_frame = "base_link",
odom_frame = "odom",
provide_odom_frame = true,
publish_frame_projected_to_2d = true,
use_pose_extrapolator = true,
use_odometry = false,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
num_point_clouds = 0,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
rangefinder_sampling_ratio = 1.,
odometry_sampling_ratio = 1.,
fixed_frame_pose_sampling_ratio = 1.,
imu_sampling_ratio = 1.,
landmarks_sampling_ratio = 1., }
MAP_BUILDER.use_trajectory_builder_2d = true TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1
MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.min_range = 0.0
TRAJECTORY_BUILDER_2D.max_range = 20.0
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 20
TRAJECTORY_BUILDER_2D.use_imu_data = false TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2)
POSE_GRAPH.constraint_builder.min_score = 0.5
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.5
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
return options
The sensor length and radius (in urdf file) are 0.07 and 0.05.
Can someone please help me understand what am I doing wrong?
