Re: g2o error on loop closure

Posted by joshcorn on
URL: http://official-rtab-map-forum.206.s1.nabble.com/g2o-error-on-loop-closure-tp4707p4730.html

I realized I had some IMU values that were being fused in robot_localization which I didn't need. This odometry output is still crashing G2O for me:
header:
  seq: 716
  stamp:
    secs: 1530631932
    nsecs:  68974733
  frame_id: "odom"
child_frame_id: "base_link"
pose:
  pose:
    position:
      x: 0.0
      y: 0.0
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: -0.000785427135805
      w: 0.999999691552
  covariance: [4030.6397772351525, 4.4236634483534737e-16, 0.0, 0.0, 0.0, 0.0, -4.493052387392546e-16, 4030.6397772351534, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.998698597376548e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.997398549128209e-07, -1.913326252639207e-34, 0.0, 0.0, 0.0, 0.0, 1.913326252639207e-34, 4.997398549128209e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.994797095830563e-07]
twist:
  twist:
    linear:
      x: 0.0
      y: 0.0
      z: 0.0
    angular:
      x: 0.0
      y: 0.0
      z: 0.00111235205013
  covariance: [46.219113711096966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 46.219113711096966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.998048404120562e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.992211834837847e-07, 1.6807491848305652e-37, 0.0, 0.0, 0.0, 0.0, -1.6807491848305652e-37, 4.992211834837847e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2182377884746984e-07]