improve100

OS:ubuntu2004 ROS:noetic workspace structure： $ pwd /home/user/catkin_build/ $ ls build devel install logs src $ ls src common control In src, I have some package(control) and common library(common). with compilation,...

why some locations are sparse in new pointcloud map

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@koide3 I have a question to ask, the following picture is the effect of my test with hdl_graph_slam. Above is the g2o graph, below is the laser point cloud map,...

sparkleshare open failed in archlinux (manjaro)?

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environment: Manjaro Linux problem: 1.sudo pacman -S sparkleshare 2.click sparkleshare icon ,notification show hello sparkleshare,but program can not open. 3.use terminal,as show: $ sparkleshare 13:56:17 Environment | SparkleShare 3.28.0 13:56:17...

multi git config

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if i have multi git repo in the folder, can i config magit use which one? like this, when i open a.txt i use A repo.otherwise use B root A...

@koide3 Hello, I found that the covariance matrix is not positive definite in the test process, and then decomposed into nan, the whole software hangs up.I tried to use the...

when robot turn 180 angle,localization fail

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2D平面约束

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你好，我想添加一个2d平面约束，这样对吗？ void forceTwoD() { Eigen::Matrix residual; residual.setZero(); residual(2) = -kf_ptr_->state_ptr_->p_GI(2) - 47; residual(5) = -kf_ptr_->state_ptr_->v_GI(2); // Eigen::Matrix3d r_GI = kf_ptr_->state_ptr_->r_GI; Eigen::Vector3d angle = computeAngles(kf_ptr_->state_ptr_->r_GI); residual(6) = -angle(0); residual(7) = -angle(1);...