{"action":"created","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/990","repository_url":"https://api.github.com/repos/googlecartographer/cartographer_ros","labels_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/990/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/990/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/990/events","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/990","id":353894523,"node_id":"MDU6SXNzdWUzNTM4OTQ1MjM=","number":990,"title":"Strange Map Rotation on Global Loop Closure","user":{"login":"Sanderi44","id":4335592,"node_id":"MDQ6VXNlcjQzMzU1OTI=","avatar_url":"https://avatars0.githubusercontent.com/u/4335592?v=4","gravatar_id":"","url":"https://api.github.com/users/Sanderi44","html_url":"https://github.com/Sanderi44","followers_url":"https://api.github.com/users/Sanderi44/followers","following_url":"https://api.github.com/users/Sanderi44/following{/other_user}","gists_url":"https://api.github.com/users/Sanderi44/gists{/gist_id}","starred_url":"https://api.github.com/users/Sanderi44/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Sanderi44/subscriptions","organizations_url":"https://api.github.com/users/Sanderi44/orgs","repos_url":"https://api.github.com/users/Sanderi44/repos","events_url":"https://api.github.com/users/Sanderi44/events{/privacy}","received_events_url":"https://api.github.com/users/Sanderi44/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-08-24T19:03:15Z","updated_at":"2018-09-18T21:12:08Z","closed_at":null,"author_association":"NONE","body":"1. Rosbag Validate: https://gist.github.com/Sanderi44/fd56510dc060941e2eca7d4ff9c24bd5\r\n2. Configuration Files: https://github.com/Sanderi44/cartographer_ros_tuning\r\n3. Bag File: https://drive.google.com/open?id=1_rAGQ9Ivw5dnOoNIGpWVti4lVY-XR-4Y\r\n4. Setup - My setup is two Velodyne VLP16's and a Varisens IMU mounted as shown in the URDF.\r\n\r\nHello,\r\n\r\nThank you guys for all the help!  I have been getting better and better results lately, since I was able to improve my URDF to be more accurate.  However, I am still seeing a very strange thing happening in rviz.  When there is a global loop closure, the entire map seems to rotate at 20+ degrees about the z axis.  It is not a consistent rotation and I cannot seem to pin down why this is happening.  Here is a [video](https://drive.google.com/open?id=123V8C30wtePjeyLIFSQxvovYiIuFtFzm) of this phenomenon.   It happens at 0:24 seconds and 0:41 seconds. Other than that, the map looks pretty good.  Any help with this topic would be much appreciated!  If there are any glaring problems that you can find with my tuning, please mention them because I would also very much like to continue to improve my results. \r\n\r\nThanks,\r\n\r\nSander"},"comment":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/comments/422556791","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/990#issuecomment-422556791","issue_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/990","id":422556791,"node_id":"MDEyOklzc3VlQ29tbWVudDQyMjU1Njc5MQ==","user":{"login":"Sanderi44","id":4335592,"node_id":"MDQ6VXNlcjQzMzU1OTI=","avatar_url":"https://avatars0.githubusercontent.com/u/4335592?v=4","gravatar_id":"","url":"https://api.github.com/users/Sanderi44","html_url":"https://github.com/Sanderi44","followers_url":"https://api.github.com/users/Sanderi44/followers","following_url":"https://api.github.com/users/Sanderi44/following{/other_user}","gists_url":"https://api.github.com/users/Sanderi44/gists{/gist_id}","starred_url":"https://api.github.com/users/Sanderi44/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Sanderi44/subscriptions","organizations_url":"https://api.github.com/users/Sanderi44/orgs","repos_url":"https://api.github.com/users/Sanderi44/repos","events_url":"https://api.github.com/users/Sanderi44/events{/privacy}","received_events_url":"https://api.github.com/users/Sanderi44/received_events","type":"User","site_admin":false},"created_at":"2018-09-18T21:12:08Z","updated_at":"2018-09-18T21:12:08Z","author_association":"NONE","body":"Any idea what this could be?"}}
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