Out of Range exeception while optimizing graph: invalid key

[lio94]

Hi,

running example with the 2_driving_away_filtered.bag data, the ROS node crashes after a short while to an error "Out of Range exeception while optimizing graph: invalid key".

I've tried to increase the smootherLag parameter (default value: 1.5) in config/graph_config.yaml, but it does not seem to fix the issue completely.

I get a same type of error "Out of Range exeception while optimizing graph: Requested variable "x35180" is not in this VectorValues. This happens if the measurement delay is larger than the graph smootherLag..."

I thought to ask if you would have more insight on how to overtcome this problem.

[nubertj]

dear @lio94, Thanks a lot for your comment. We have fundamentally restructured the graph in the meanwhile and are currently writing a follow-up publication. Hence, I will soon introduce a completely new release, that is much more flexible and stable. Until then, I am asking for some patience, as the released version was still under heavy development.

If you really need an updated version for your research, just contact me privately and I try to give you access to our current pre-release version.

Best, Julian

[ksvbka]

hi @nubertj Thank for great project. Do you have any update about the release new version?