different results #52
Description
Hi!
I recorded a bug file on the robot and play it back without changing the localization parameters. I stop the node each time, then start it. The first launch produced an adequate result, the route matched the expected one, but then with each subsequent launch the result becomes worse and worse: see photo (haven't done photo of the 1st try). After rebooting the laptop, everything became really bad...
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`
/**:
ros__parameters:
registration_method: "NDT_OMP"
score_threshold: 0.05
ndt_resolution: 3.0
ndt_step_size: 0.1
ndt_num_threads: 4
ndt_max_iterations: 200
transform_epsilon: 0.01
voxel_leaf_size: 0.15
scan_max_range: 100.0
scan_min_range: 0.2
scan_period: 0.1
use_pcd_map: true
set_initial_pose: true
initial_pose_x: 266.99551
initial_pose_y: -112.886769087
initial_pose_z: -0.046483935
initial_pose_qx: 0.00141948487108
initial_pose_qy: -0.0049822938747
initial_pose_qz: 0.751074512341
initial_pose_qw: 0.66019712111
base_frame_pose_x: 1.253
base_frame_pose_y: 0.0
base_frame_pose_z: 2.245
base_frame_pose_qx: 0.0
base_frame_pose_qy: 0.0
base_frame_pose_qz: 0.0
base_frame_pose_qw: 1.0
use_odom: false
use_imu: false
enable_debug: true
global_frame_id: map
odom_frame_id: odom
base_frame_id: rslidar #was base_link
`
using only 3d lidar (rslidar), no imu, no odom. why may it be so?