Introduction
Problem description
Post-processing fails with:
[ERROR] Check failed: rotation_vector.norm() < 3.14159265358979323846 / 2. (2.34959 vs. 1.5708) Sigma point is far from the mean, recovered delta may be incorrect.
[31mERROR: Could not process dataset '/tmp/inputs/2020-09-17_20.28.09': Command 'rosrun surveyor_ros surveyorslam_processing_node --configuration_directory=/opt/NavVis/slam/share/surveyor_ros/'configuration_files' --configuration_directory=/opt/NavVis/mapper/share/navvis_mapper/launch/Y2 --configuration_basename=slam_config_offline.lua --velodyne_calibration=/opt/NavVis/ros-shared/share/velodyne_pointcloud/params/VLP16db.yaml --clock --assets-output-dir=/tmp/outputs/datasets_proc/2020-09-17_20.28.09_1 --anchor-frame=anchor_cross --sensor-frame=/tmp/inputs/2020-09-17_20.28.09/sensor_frame.xml --dynamic-frames-tf-topics=head_body --bags /tmp/navvis_postproc_dataset_2020-09-17_20.28.09@2020-09-28_17.01.06/rewritten/bag_sensor_data_3.bag /tmp/navvis_postproc_dataset_2020-09-17_20.28.09@2020-09-28_17.01.06/rewritten/bag_sensor_data_1.bag /tmp/navvis_postproc_dataset_2020-09-17_20.28.09@2020-09-28_17.01.06/rewritten/bag_sensor_data_2.bag /tmp/navvis_postproc_dataset_2020-09-17_20.28.09@2020-09-28_17.01.06/rewritten/bag_sensor_data_0.bag /tmp/outputs/datasets_proc/2020-09-17_20.28.09_1/artifacts/height_adjust.bag --device-certificate=/etc/NavVis/workstation.cer --publish-tf-tree --no-roscore --imu-topic /imu/imu_raw/data --laser-scan-topics /Root cause
SLAM diverges in the internal Kalman filter.
Scope
This solution applies to the post-processing software and NavVis IVION Processing.
Troubleshooting procedure
As the SLAM and the Kalman filer are probabilistic, first try re-processing.
If that doesn't help, the Dataset needs to be cut with
nv_cut-datasetat the position where the SLAM breaks (nv_cut-dataset documentation).