kotokoruru / odometry_calibration

using direct linear method to calibrate the odometry estimation, by sloving A^T *A x = A^T *b with Cholesky decompose

odometry_calibration

using direct linear method to calibrate the odometry estimation, by sloving A^T *A x = A^T *b with Cholesky decompose

usage step: 1.mkdir odom_ws cd ./odom_ws

2.mkdir src mv <calib_odom>(the file path of the "calib_odom") ./

cd ..

3.catkin_init_workspace

4.source ./devel/setup.bash

5.catkin_make

6.goto the launch path and execute roslaunch calib_odom odomCalib.launch

7.then uncompress the bag file

8.rosrun rviz rivz set the fix_frame as odom and add three tpic:odom_path_pub,calib_path_pub,scan_path_pub,and change the color whatever you like

9.goto the odom_ws/bag,uncompress the bag file and execute: rosbag play --clock odom.bag

10.and you will see two trajectory(one from odometry,one from scan)

11.after the bag go to the end you can open a terminal and public an topic:rostopic pub /calib_flag std_msgs/Empty "{}"

the calibrated trajectory will gained as well the calibration matrix

final result:

odometry_calibration's Issues

lidar_path is wrong?

when I use it under ubuntu 20.04 , I found that the lidar_path is wrong. It shows a line, not a circle . I want to know why?

about the calibration method

Thanks for sharing your code. It is very nice. I wonder if there are any more detail information about the method you use to calculate the transformation from 2D laser to odom ? or any paper about it ? thank you.