Unitree LiDAR positioning on scanned maps

[chimamaxianghahahahahaha]

Hello, I have completed the L2 radar mapping using this project, but how can I achieve localization on the scanned map

[vstadnytskyi]

@dfloreaa Thank you Daniel for such a wonderful library.

@chimamaxianghahahahahaha I am glad to hear you were able to finish mapping. Though, I am having challenges in completing the mapping. It looks like I have a run-away problem even if I am stationary.

this is screenshot from Foxglove App. You see the path as a continuous line and point cloud from a single scan as red dots.

I just have Unitree LiDAR. I do not have odometers on my setup. Does it take and computes odometry from the IMUs? I want to avoid computing odometry from IMU. I want to use only point cloud to estimate how far and how much I have moved.

I wonder if there is something odd about my .yaml file. Could you share what you used to combine point clouds?

[yawmid]

@vstadnytskyi I was wondering if you fixed that problem, we've been having the same issue on our setup, on foxglove as well

[vstadnytskyi]

@vstadnytskyi I was wondering if you fixed that problem, we've been having the same issue on our setup, on foxglove as well

It is problem with your settings. The default settings are for faster moving base-link e.g. drones. You need to look into the settings and change them. For example, laser correlation need to be changed in order to fit your application. Difficult to say what you are trying to do if I don't know you mode of operation.

[yawmid]

Oh right I didn't know that, we are using the lidar for a slow moving rover, < 1m/s. Do you have any suggestions of what type of settings we need, or should we trial and error?