SLAM diverges in an indoor test


#1

Hi,

I have SLAMDUNK installed on a custom drone. When the module is handheld and moved with slow speed (just walking around a room), the /pose estimates and the point cloud seems reasonable. However, when the drone flies, it diverges in short time. Below is a link for two ROS bags to help debug the problem. One corresponds to a setup where the slamdunk module is installed with dampers on the drone. The other is with out damping.

Could please have a look and help debugging the issue?

Thanks in advance.