{"action":"created","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1052","repository_url":"https://api.github.com/repos/googlecartographer/cartographer_ros","labels_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1052/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1052/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1052/events","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/1052","id":368071895,"node_id":"MDU6SXNzdWUzNjgwNzE4OTU=","number":1052,"title":"Cartographer 3D with IMU, 1 Velodyne-16 LiDAR. No map output","user":{"login":"NTUwilliam","id":43923666,"node_id":"MDQ6VXNlcjQzOTIzNjY2","avatar_url":"https://avatars2.githubusercontent.com/u/43923666?v=4","gravatar_id":"","url":"https://api.github.com/users/NTUwilliam","html_url":"https://github.com/NTUwilliam","followers_url":"https://api.github.com/users/NTUwilliam/followers","following_url":"https://api.github.com/users/NTUwilliam/following{/other_user}","gists_url":"https://api.github.com/users/NTUwilliam/gists{/gist_id}","starred_url":"https://api.github.com/users/NTUwilliam/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/NTUwilliam/subscriptions","organizations_url":"https://api.github.com/users/NTUwilliam/orgs","repos_url":"https://api.github.com/users/NTUwilliam/repos","events_url":"https://api.github.com/users/NTUwilliam/events{/privacy}","received_events_url":"https://api.github.com/users/NTUwilliam/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":4,"created_at":"2018-10-09T07:18:14Z","updated_at":"2018-10-18T10:06:33Z","closed_at":null,"author_association":"NONE","body":"Hi all !\r\nI'm trying to use my **own 3D bagfile** (collected by Husky Robot, using only one Velodyne-16 LiDAR and one 3DM-GX3-25 IMU) to run on Cartographer but no map generated. \r\nBefore this, I've successfully run Cartographer on my own 2D bagfile.\r\n\r\nMy bag file has 2 topics and here is what **rosbag info** gives me:\r\n![rosbag_info](https://user-images.githubusercontent.com/43923666/46651995-58e97400-cbd4-11e8-9221-43adb1a29862.png)\r\n\r\n\r\nAnd the result of running the **rosbag_validate** gives me:\r\n![rosbag_validate](https://user-images.githubusercontent.com/43923666/46652045-728abb80-cbd4-11e8-8ded-9187d75dbb2d.png)\r\n\r\n\r\nI had tuned the parameters and tried to run this bag by `roslaunch cartographer_ros  offline_backpack_3d.launch bag_filename:=/home/williamwoo/husky-tf-scan-_2018-10-08-08-14-41.bag` but there's no map showing on the Rviz. \r\nThe running results (some repetitive part ignored) and Rviz screenshots are shown as below:\r\n![running result 1](https://user-images.githubusercontent.com/43923666/46651847-e1b3e000-cbd3-11e8-8080-07f3c356596a.png)\r\n\r\n![running result 2](https://user-images.githubusercontent.com/43923666/46652134-ca292700-cbd4-11e8-8f3c-bf540d2ca7a5.png)\r\n\r\n![running result 3](https://user-images.githubusercontent.com/43923666/46652151-d319f880-cbd4-11e8-8a1b-452f7b08c23a.png)\r\n\r\n![running result 4](https://user-images.githubusercontent.com/43923666/46652159-db723380-cbd4-11e8-8acc-cac9e0bfc489.png)\r\n\r\n![running result 5](https://user-images.githubusercontent.com/43923666/46652163-e036e780-cbd4-11e8-9041-b2b23e5be68c.png)\r\n\r\n![rviz](https://user-images.githubusercontent.com/43923666/46652169-e4630500-cbd4-11e8-8f91-2910fc00a32c.png)\r\n\r\nThe related files are uploaded for your reference:\r\n3D Bagfile with my sensor data: https://entuedu-my.sharepoint.com/:u:/g/personal/zhenyu002_e_ntu_edu_sg/EbOR1SYYAeFBk5bVflIcrvsBYmshHWGSTDlUIxx8LrG4Cw?e=78UbLr\r\nLaunch file: https://github.com/NTUwilliam/Google_cartographer/blob/master/offline_backpack_3d.launch\r\nlua file: https://github.com/NTUwilliam/Google_cartographer/blob/master/backpack_3d.lua\r\nURDF file: https://github.com/NTUwilliam/Google_cartographer/blob/master/backpack_3d.urdf\r\n\r\n \r\n Is there any solution to this problem?  Any comment is appreciated. Thanks a lot.  @gaschler @cschuet \r\n@SirVer @ojura \r\n"},"comment":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/comments/430952067","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/1052#issuecomment-430952067","issue_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1052","id":430952067,"node_id":"MDEyOklzc3VlQ29tbWVudDQzMDk1MjA2Nw==","user":{"login":"junzhang2016","id":16817603,"node_id":"MDQ6VXNlcjE2ODE3NjAz","avatar_url":"https://avatars0.githubusercontent.com/u/16817603?v=4","gravatar_id":"","url":"https://api.github.com/users/junzhang2016","html_url":"https://github.com/junzhang2016","followers_url":"https://api.github.com/users/junzhang2016/followers","following_url":"https://api.github.com/users/junzhang2016/following{/other_user}","gists_url":"https://api.github.com/users/junzhang2016/gists{/gist_id}","starred_url":"https://api.github.com/users/junzhang2016/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/junzhang2016/subscriptions","organizations_url":"https://api.github.com/users/junzhang2016/orgs","repos_url":"https://api.github.com/users/junzhang2016/repos","events_url":"https://api.github.com/users/junzhang2016/events{/privacy}","received_events_url":"https://api.github.com/users/junzhang2016/received_events","type":"User","site_admin":false},"created_at":"2018-10-18T10:06:33Z","updated_at":"2018-10-18T10:06:33Z","author_association":"NONE","body":"@ojura Yes, you are right!\r\n\r\nI got it worked and the generated map in the Rviz is:\r\nFor `TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 0.1`\r\n![trajectory_builder 0 1](https://user-images.githubusercontent.com/16817603/47146769-50451c00-d2ff-11e8-9da5-a23c5861bcda.png)\r\n\r\nFor `TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 1`\r\n![trajectory_builder 1](https://user-images.githubusercontent.com/16817603/47146798-5f2bce80-d2ff-11e8-8420-661d2449e855.png)\r\n\r\nFor `TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 3`\r\n![trajectory_builder 3](https://user-images.githubusercontent.com/16817603/47146818-6a7efa00-d2ff-11e8-9e50-2fdc09de62ac.png)\r\n\r\nI've noticed that the generated map is still kind of **unclear** and the **ROS time runs pretty fast** (running finished in around 10 seconds, although the actual duration time is 136s). Any suggestions for tuning the parameters? \r\n@ojura @cschuet Thanks!!\r\n\r\n\r\n\r\n"}}
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