From my initial testing with the SLAM DUNK, everything were left as default. I noticed from the rviz, that the odometry loses track easily with normal daytime indoor condition. Besides, with good tracking, the world z-axis gradually diverge from the gravity.
I wonder if this is normal? and if there is any I can do to improve this?
What is the optimal operation environments and what is the limitation?
Is there a way to actively reset the odometry?