itvroc / ekf_loam Goto Github PK

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?

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?

when I am catkin_make , I can't find the cloud_info.h. Cause compilation failure.

It works, but why can't it achieve the effect in the picture

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"/>
-->

Can i use this on Ubuntu 20.4 and Ros Noetic

I did not find a folder called espeleo_lego_loam.launch after compiling, so I could not run offline packages.

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.

Hi, I want to use kitti dataset using EKF_LOAM, but there are some errors occurring.

1. 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].
2. 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!

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!

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.

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?