ROUTE DETAILS
Indoor. A short route east inside Innova Building. Few moving people. 
Robot commanded manually.

Sensors: ODO, IMU, LIDAR (points)



Distance travelled: 40 m

Sensor frequencies:
Sensor frequencies Hz:
	LiDAR:  9.98
	Odometry:  9.99
	GPS:  NULL
	IMU:  19.39

GPS mode: None

GPS transform: None

MAP
The solution is referenced to an arbitrary initial pos/orient=0.



COMMENTS
LiDAR is captured at 10 Hz. This exceeds the capabilities to save the LIDAR to hard disk and in some timestamsp the lidar cannot be saved correctly and there are hops in the timestamps.  
  
 
SCANMATCHING PARAMETERS
# caution, this is needed to remove initial LiDAR scans with no other data associated to it
start_index = 0
# sample LiDAR scans with delta_time in seconds (of course, depends on available data)
delta_time = 0.3
# voxel size: pointclouds will be filtered with this voxel size
voxel_size = None
# select the simple scanmatcher method. Recommended: icppointplane
method = 'icppointplane'


SLAM PARAMETERS    
perform_loop_closing = True
method = 'icppointplane'
skip_loop_closing = 20
skip_optimization = 50
# try to add at most, number_of_candidates_DA
number_of_candidates_DA = 5
# try to find a loop closure, distance_backwards accumulated distance from the last pose
distance_backwards = 7.0
# no uncertainty is considered. Trying to close a loop with all candidates poses within this radius (includes the error)
radius_threshold = 1.0
# visualization: choose, for example, 1 out of 10 poses and its matching scan
visualization_keyframe_sampling = 20