Highway rosbag

[TokyoWarfare]

Hello.
I share one of my first bags I've captured with my mobile rig.

VIDEO;
https://youtu.be/eaibwJ2cDag

https://drive.google.com/drive/folders/1JpvM6FidE0lQuJM218j0USKQsQpO_66S?usp=sharing

config file to run exactly like in the video is included.

Simply call it like this:

(GLIM-Docker) root@e6ebfca4e7ba:~/ros2_ws/install/glim_ros$ ros2 run glim_ros glim_rosbag /data/MyHorizonBags/ROS2/Bag_03 --ros-args --remap use_sim_time:=true -p config_path:=/data/MyHorizonBags/ROS2/GLIM_CONFIGS/00_CONFIG_CURRENT

adapt routes etc...

i've been playing to get a denser map. By putting -1 as target I get full sensor point capacity but on the tunnels it trips. ALso the mapping seems to allways subsample.

I've anotehr bag, A VERY nice one that has a lot of loops etc but sadly the steamdeck seemed to suspend for a moment to kind of breaks at the end. And while I tried to manually close loops it did not work as it did on the highway.

I'll be testing soon the scan context to see if that reduces the drift. I was able to realign the highway scan using the loop tools in the offline viewer, but the tunnels kind of skew, Hope you find this interesting. i'll be soon doing more scans. Cheers.

[TokyoWarfare]

Today I captured different highway section. This time Without tunnels. There is a tunnel like structure, but with plenty of features IMO.

In a similar fashion tot he original highway map.

Odometry works with the sparse settings, will get totally broken at an specific point in HD odometry.

I've a susspicion as to why.

Tomorrow or day after tomorrow I'll rescan the original highway to see if it gets lost in the same section or not.

I believe the max density odometry fails because of traffic/moving objects.

Today it broke when a truck made wall effect. And in thense mode it generates a dense trail so I believe this could be reason why. I had noticed moving object to cause playback speed to slow down (without breaking) in an urban feature rich environment. And in original highway tunnel, at the moment of breaking 2 vehicles are passing by.

I'll do more research on this. I'll try to convert the bag to ros1 to test with livox lio that has dynamic object filtering and has been tested on highways. But that may take 1+week.