Estimations increase dramatically #7
Description
While rio runs well on the provided datasets, however when I try to launch it with my own rosbag, the estimate position and velocity seem to increase very rapidly, and converge to wrong numbers, as the robot real speed is 0.5 m/s (while the ones shown below will increase indefinitely as the bag is playing) :
pose:
pose:
position:
x: -160.44983290133843
y: -14.600831309434668
z: -47.69175573838993
orientation:
x: -0.02611747507882512
y: -0.032748962918190724
z: 0.9235699756457728
w: 0.38113471154690987
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 8.807195182027714
y: 12.875944052624204
z: -2.5869651071525483
angular:
x: 0.05528554320335389
y: -0.012584030628204346
z: 0.0011943281861022117
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
There is also this series of warnings, that I could not debug properly, as the timings seem to be too close and the mismatch is only in the last fractions of time, not sure if this what causing the wrong estimation:
[ WARN] [1721221984.697609407]: Failed to split propagation, skipping CFAR detections.
[ WARN] [1721221984.697652414]: Split time: 1695304190.525563847
[ WARN] [1721221984.697669591]: Last IMU time: 1695304190.519120621
[ WARN] [1721221984.797759724]: Failed to split propagation, skipping CFAR detections.
[ WARN] [1721221984.797818564]: Split time: 1695304190.625555836
[ WARN] [1721221984.797849152]: Last IMU time: 1695304190.618970971
[ WARN] [1721221984.897949333]: Failed to split propagation, skipping CFAR detections.
[ WARN] [1721221984.898010507]: Split time: 1695304190.725679948
[ WARN] [1721221984.898040557]: Last IMU time: 1695304190.718575103
Would sincerely appreciate your answer