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Run with a slam system #1
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I want to change LVIO-SAM/sim_env/husky/husky_description/urdf/husky.urdf.xacro Lines 295 to 298 in a2df3a1
I'm not familar with xacro syntax, try to add xacro: in VLP-16 tag, tf will complains link 'velodyne_base_link' is not unique. and then crash. Does anybody know how to do to make params take effect? Thanks for your help and time.
Update 1:
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The drift is caused by extrinsic between velodyne and imu frame, see here . |
Meet the same problem as you. The extrinsic between velodyne and imu frame is: |
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Yes, When I run the command tf_echo. I get like this :
When I use this in my program, the trajectory result is not correct. So I want to figure out the correct parameter about this simulation |
不好意思,为了怕表述不清楚,这边就中文给您回复了。 |
您客气了。以下是我的个人想法,希望有所帮助。
我发现在使用不同world时,有的world在最开始时刻,机器人模型会抖动一下, 可以先加载world,分开加载机器人model,比如husky或者mir_robot。在使用imu的时候,原本在gazebo imu插件中通过参数设置,让imu sensor 绑定到velodyne所在的坐标系,但是发现由于抖动后,imu box(在rviz中通过imu插件rviz_imu_plugin)所在的轴和imu topic的frame_id所在的坐标系不对齐。 imu的acc和gyro数据是在imu box所在轴下的,但是通过tf_echo查询的时候查的是imu topic的frame_id和雷达坐标系的外参。所以,在加载world后,你确认下imu box 和imu topic上的frame_id 坐标系是不是对齐的。
如果是需要增加imu gyro测量噪声, 你可以把gazebo imu插件对应的源码下载下来,看是否有现成的参数直接可以设置,如果没有,在代码里面根据自己的想法加一下。
这个问题可能跟第一个问题是同一个根源,我猜测哈 :) |
关于机器人模型会抖动的问题,这个确实是的,有可能是因为gazebo环境重力原因,有些时候模型是总某个高度掉到地面的,所以会抖,但是等所以稳定之后应该就没事了 |
Hi @TurtleZhong,
Thanks for your sharing, i'm trying to run the gazebo with lio-sam. When robot is stationary at origin, lio-sam begins to drift in z axis. I am not familar with gazebo, i am not sure i set the params correctly. Look forward for your suggestions and thanks in advance. I modify these params.
joystick teleop.launch
inspawn_husky.launch
.enable_ekf
inhusky_control/launch/control.launch
.<VLP-16 parent="base_link" name="velodyne" topic="/points_raw" hz="10" samples="1800" min_range="0.1" gpu="false" organize_cloud="true">
inhusky.urdf.xacro
./imu/data
inbase_link
frame_id,husky.urdf.xacro
.Best regards
narutojxl
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