Localization loss during turning maneuvers on self dataset-02

[alikesierzhao0411]

First of all, thank you very much for open-sourcing this excellent work!

We have been testing ERPoT on Self dataset-02 using the provided configuration files. While the system works well in straight-line scenarios, we have observed frequent localization loss during turning maneuvers. The tracking reliability drops significantly when the robot makes sharp turns, and the pose estimation easily diverges.

Any insights or recommended parameter configurations would be greatly appreciated. We're happy to provide additional details about our evaluation details if needed.

[ghm0819]

Only the initial pose (start_x, start_y and start_yaw), the "cloud_topic" and "map_path" parameters in launch file need to be modified. If you run the launch file and play the rosbag according to "readme". I just ran the entire program again, especially for “Self_dataset_02_1.bag”, there is no problem.

[kawhi22810-jpg]

Did the author use Mid360 or other non-repeating scanning LiDAR in this project? My test results using Mid360 LiDAR were not very good.