Re: icp_odometry with LOAM crash

Posted by huibuh on Jul 21, 2021; 10:52am
URL: http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8352.html

Hi,

Your LOAM build error commit works as expected, master branch now compiles with LOAM support.

I checked out commit a4c364 of package loam_velodyne and recompiled, but still no luck: With Odom/Strategy=7, the icp_odometry node crashes immediately.

I also tried out your suggestions to make icp_odometry faster, trying out the following in separate tests:
- Switching to Frame-To-Frame (F2F) approach (Odom/Strategy=1) doesn't work at all with my dataset, generated map becomes messy very quickly once the robot starts moving.
- I increased Icp/VoxelSize from 0.3 to 0.6 and also tried 1.0. This does positively affect the frame rate, but at the same time notably increases the robot position error (large base_footprint position jitter even when robot is stationary).
- Setting Icp/PointToPlane="false" also results in very bad map quality, localization is very poor
- Decreasing OdomF2M/ScanMaxSize from 15000 to 7500 and later 1500 did not result in much of a measurable improvement of icp_odometry frequency.

For now, I get the best results running the Ouster at only 10 Hz. At this input rate, icp_odometry can keep up 10Hz, too (using Icp/VoxelSize=0.3 for indoor setting, 0.5 outdoors).

Please let me know if you have any more ideas what else I could try out.

Cheers,
Heiko