ekf_loam's People
ekf_loam's Issues
About Matrix F
F = jacobian_state(X, dt);
In function jacobian_state writes that
double delta=0.0001;
for(;;){
x_plus = x;
x_plus(i) = x_plus(i) + delta;
.......
}
When f () calculates the partial derivative of x, why should we set delta to 0.0001? Will it get better results if we set delta smaller?
no output
When I tried to run this algorithm, I encountered a thorny problem.
1.The file can be compiled successfully,
2.The bag package can also run normally,
3.the input os1_ cloud_ Points can be detected,
4.there is no error after running the algorithm
but no output. I can't receive any topic output.
I would appreciate it if you could tell me how to solve this problem. Looking forward to your reply.
I can't find the cloud_info.h.
when I am catkin_make , I can't find the cloud_info.h. Cause compilation failure.
tunnel_sabara.bag performace
Thanks for your excellent work.
I run the tunnel_sabara.bag. I found that I need to modify some code because the status of the code may used for velodyne32 Lidar, but the bag provides ouster-16 messages. After that, I got:
# Filter settings
enableFilter: false
enableFlatGround : true
# Filter settings
enableFilter: true
enableFlatGround : true
After applying the filter, the robot moves farther, which implies that your filter works. However, the performance is not as well as your pictures. Should I change some other parameters?
What I have done:
in ekf_loam_parameters.yaml
lidar_frame: "os1_lidar"
in ekf_loam.launch
rosparam unless="$(arg sim)" command="load" file="$(find ekf_loam)/config/os1_16_parameters.yaml" /
<!--
<rosparam unless="$(arg sim)" command="load" file="$(find ekf_loam)/config/velodyne_32_parameters.yaml" />
-->
<rosparam if="$(arg sim)" command="load" file="$(find ekf_loam)/config/vlp_16_sim_parameters.yaml" />
and
<!--
<remap from="/os1_cloud_node/points" to="/velodyne_points"/>
-->
It works, but why can't it achieve the effect in the picture
It works, but why can't it achieve the effect in the picture
how to run on tunnel_sabara.bag using LEGO-LOAM
Hi, I want to use the bag "tunnel_sabara.bag" using LEGO-LOAM, but there are some problems occurring.
1、the base_link is never moved.
2、featureAssociation: /usr/include/boost/smart_ptr/shared_ptr.hpp:734: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = flann::Index<flann::L2_Simple >; typename boost::detail::sp_member_access::type = flann::Index<flann::L2_Simple >*]: Assertion `px != 0' failed.
[featureAssociation-6] process has died
Could you help how to run the bag "tunnel_sabara.bag" using LEGO-LOAM? Thanks a lot!
Does this package support Livox LiDAR?
Thank you for sharing a great work with us.
We can execute this package using your dataset.
We plan to execute ekf_loam by Livox series LiDAR (especially, Livox AVIA), and the estimation result is going to be written in our paper.
Is it enough to use ekf_loam based on Livox series LiDAR by editing the sensor_parameters (such as the following image) for Livox AVIA?
roslaunch error
After I run the code "catkin_make ekf_loam -j1", I run the code "source devel/setupbash" and "roslaunch ekf_loam ekf_loam.launch".But it reports errors such as :
ERROR: cannot lanch noed of type [ekf_loam PreTreatment]: cannot locate node of type [PreTreatment] in package [ekf_loam], Make
sure file exists in package path and permission is set to executable (chmod +x).
ERROR: cannot lanch noed of type [ekf_loam LiDAROdometry]: cannot locate node of type [LiDAROdometry] in package [ekf_loam],
Make sure file exists in package path and permission is set to executable (chmod +x).
Then I use "catkin_make".It can run "roslaunch ekf_loam ekf_loam.launch" normally this time,but when I run the "rosbag play xx.bag",it reports errors such as:
Waiting for Transformation
[PreTreatment -5] process has died
Beside,where can I find the groundtruth of 6 datasets you used.
I could not run offline packages
I did not find a folder called espeleo_lego_loam.launch after compiling, so I could not run offline packages.
Ubuntu 20.4 ROS Noetic
Can i use this on Ubuntu 20.4 and Ros Noetic
how to run kitti dataset in EKF_LOAM
Hi, I want to use kitti dataset using EKF_LOAM, but there are some errors occurring.
- After modifying the configuration file according to LEGO_LOAM to run, the following issues occurred: [ INFO] [1693649227.318221864, 1317617735.043216158]: Waiting for Transformation
[PreTreatment-6] process has died [pid 24086, exit code -11, cmd ///ekf_loam/devel/lib/ekf_loam/PreTreatment __name:=PreTreatment __log:=///.ros/log/6fd32b58-4978-11ee-8b00-08beac2670b6/PreTreatment-6.log]. - After inspection, it was found that there were no TF nodes.
I would like to know if there are any other modifications needed besides modifying the parameter configuration file of the LiDAR. Thanks a lot!
"J(φ) is the Jacobian matrix mapping the angular velocities to the Euler angles’ derivative", how to calculate J(φ)?
Thank you so much for your work, I am so inspired. I would like to be able to get the calculation of J(φ), can you provide more details?
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.