Running KITTI - Raw Data on cartographer, have problem in vehicle's pose

[nobinov]

Hi all! I'm new to cartographer and currently using it for my project in autonomous driving.

I am currently tried to run kitti dataset on cartographer_ros. I installed cartographer and cartographer_ros in early march. I am using Raw Data from data category Road which is 2011_10_03_drive_0042 (synced+rectified data) and convert it to rosbag using kitti2bag.

I slightly modified it to disable progressbar package. modified version of mine can be looked here. I should also mention that I did some extra modification to kitti2bag and pykitti because previously I use it to convert KITTI - Odometry dataset, which the modification can be looked at issue at kitti2bag repo .

I checked my bag using cartographer_rosbag-validate and get this output. I can't show the rosbag because it's too big (around 6.4 GB) to be uploaded.

To run it, I followed and adapted an example from gmukitti and slightly edit some configuration to be compatible with current version of cartographer_ros.

all the configurations (.lua, .urdf, .launch) can be looked at https://github.com/nobinov/kitti_cartographer

Apparently it can run, and can produce a map. However, it have a problem in the vehicle's pose. It seems it produce right orientation but have a wrong velocity. It resulted a "squished" map which screenshot of the generated map and path+constraints from rviz can be seen here :

Can anyone help what am I missing on here? Thank you 😄

[MichaelGrupp]

I can't help with this configuration, but I'm pretty sure there are maybe other people have used Cartographer with KITTI before. https://www.youtube.com/watch?v=29Knm-phAyI