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My application involves frequently relocating the sensor suite, how do I proceed?
The program listens to geometry_msgs::PoseWithCovarianceStamped typed messages on
topic /pose_reset. Reset the pose by sending the current pose to the program. Users can also
generate the message in RVIZ using the 2D Pose Estimate button. However, note that the message
generated in RVIZ only contains 2D pose information assuming the sensor suite moves on the x-y
plane. The function does not work well if the environment is significantly 3D.
How can I limit the effect of strong high-frequency oscillations in my application?
Using the Stencil Settings icon set useImuAcceleration to false in the user parameters. The
program will not use accelerations from the IMU, which are usually noisy in this situation.
My map looks sparse, how do I improve the point cloud density?
Registered points are only logged when Stencil 2 moves. Without any motion, the points are not
accepted. To allow more points to be accepted, use the Stencil Settings icon to reduce
laserCloudSkipDis and increase maxPointNum. Adaptive Data Replay will double the density of
the live scan if skipFrameNum is set to 0.
How do I turn on sensor-path logging if the trajectory file is not in the recordings directory?
Using the Stencil Settings icon set logSensorPath to true. This is set to true at the factory.
How do I update the map for localization after changes in the environment?
Conduct a localization scan using Stencil 2 based on your prior map. You can either merge the two
maps and save the file or just use the new map created. Run the Choose Map for Localization to
replace the map by the newly generated map.
Can I use a Velodyne VLP-32C or HDL-32E instead of a Velodyne VLP-16 on Stencil 2?
Yes. Mount the Velodyne VLP-32C or HDL-32E on Stencil 2 using the supplied adapter ring.
Note: You should request the HDL-32E adapter ring from Kaarta for the HDL-32E. The VLP-32C
uses the same adapter as the VLP-16.
Can I mount the Velodyne upside down?
Yes, with some parameter changes when operating in Mapping/Localization without camera.
Using the Stencil Settings icon set upward to false and laser_wrt_imu_roll to 3.1415926.
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