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Robustify online calibration #168

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jakemclaughlin6 opened this issue Dec 21, 2023 · 1 comment

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jakemclaughlin6 commented Dec 21, 2023 •

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Online calibration causes odometry to fail pretty frequently. Steps to debug this:

log the calibrations on graph updates, identify if the calibration gets skewed a lot when odom gets out of wack
print how many constraints are connected to the calibrations
maybe increase the priors on the calibrations, or we need to add more priors to them
3.5 Add prior for every pose?

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jakemclaughlin6 commented Dec 21, 2023

We want to run online calibration so we can output the calibrations at the end for hopefully improved calibrations

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