{"action":"closed","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/902","repository_url":"https://api.github.com/repos/googlecartographer/cartographer_ros","labels_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/902/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/902/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/902/events","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/902","id":332932648,"node_id":"MDU6SXNzdWUzMzI5MzI2NDg=","number":902,"title":"advice in calibrating indoor application with 1 VLP16 and IMU","user":{"login":"billcai","id":15115129,"node_id":"MDQ6VXNlcjE1MTE1MTI5","avatar_url":"https://avatars2.githubusercontent.com/u/15115129?v=4","gravatar_id":"","url":"https://api.github.com/users/billcai","html_url":"https://github.com/billcai","followers_url":"https://api.github.com/users/billcai/followers","following_url":"https://api.github.com/users/billcai/following{/other_user}","gists_url":"https://api.github.com/users/billcai/gists{/gist_id}","starred_url":"https://api.github.com/users/billcai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/billcai/subscriptions","organizations_url":"https://api.github.com/users/billcai/orgs","repos_url":"https://api.github.com/users/billcai/repos","events_url":"https://api.github.com/users/billcai/events{/privacy}","received_events_url":"https://api.github.com/users/billcai/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":4,"created_at":"2018-06-15T22:39:02Z","updated_at":"2018-06-19T15:16:28Z","closed_at":"2018-06-19T15:16:28Z","author_association":"NONE","body":"Hi all, \r\n\r\nI am using cartographer in a large indoor setting, with a single VLP16 and imu. Being new to ROS, I went through ROS tutorials, and also read other similar issues. I've managed to get the frame_ids right (I think), but I cannot seem to produce an accurate 3d map of the short test area with the lidar and imu mounted on a trolley. \r\n\r\nMy rosbug_validate output is: [here](https://gist.github.com/billcai/161934151fc996139ef44cd1dbf9f81a).\r\nMy forked repo is: [here](https://github.com/billcai/cartographer_ros)\r\nThe file to run is [vlp16-imu.launch](https://github.com/billcai/cartographer_ros/blob/master/cartographer_ros/launch/vlp16-imu.launch). I used [replay_vlp16-imu.launch](https://github.com/billcai/cartographer_ros/blob/master/cartographer_ros/launch/replay_vlp16-imu.launch) to replay my results.\r\nMy bag file is: [here](https://drive.google.com/file/d/1gVylbblAA8JPZH8p9zABWJMHjm5DP3ln/view?usp=sharing)\r\n\r\nThings that I have played around with include changing the `TRAJECTORY_BUILDER_3D.num_accumulated_range_data` and `POSE_GRAPH.optimize_every_n_nodes`. \r\n\r\nThank you in advance for your help! Appreciate any and all feedback and comments. And also many thanks to contributors and cartographer authors."}}
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