Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Initial Pose #159

Closed
michellevalente opened this issue Jan 21, 2020 · 2 comments
Closed

Initial Pose #159

michellevalente opened this issue Jan 21, 2020 · 2 comments

Comments

@michellevalente
Copy link

Is there any way we can provide an initial pose to the method?
Thank you in advance for the help!

@TixiaoShan
Copy link
Collaborator

@michellevalente
Yes, check the function here

Assign your initial pose to transformSum[]. The order is pitch, yaw, roll, y, z, x in standard ROS frame.

@TixiaoShan TixiaoShan pinned this issue Jan 24, 2020
@Leedk3
Copy link

Leedk3 commented Oct 5, 2020

Hi Shan,
When I tried changing transformSum[] in the code, map building became worse.
Should I change other things more in the code?

The initial pose did not start from origin pose as I wanted, however, the result was like this.
If I remove "transformSum[]" things what I added, the result was no problem.

I found that if I set the initial pose far from the origin, map drifting was being more.
In my case, when I set like this, it works:
transformSum[3] = 10
transformSum[5] = 10

However, when I set like far from the origin like this, it does not work:
transformSum[3] = 100
transformSum[5] = 100

result

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

3 participants