trajectory_builder_3d velodyne point cloud floating over time

[KleinYuan]

I am using VLP16, IMU and trajectory builder 3d to build a map and run move base navigation.

The map build looks great! However, overtime, the velodyne point cloud floats on top of the map (shown in the image). I believe this must be related to how cartographer update tf between /map and /base_link//base_footprint.

So basically, when initialized, point cloud plane aligns with map plane. However, after running for a while, point cloud (velodyne frame) is flying slowly to z axis, eventually exceed the max_obstacle_height, resulting in costmap disappear (as shown in the picture).

I am using 0.3.0 release and tried to look at what can be done to resolve this issue but got no luck so far.

Anyone met similar issues before?

Maybe related to this issue

Below is my config:

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "imu_link",
  published_frame = "base_footprint",
  odom_frame = "odom",
  provide_odom_frame = true,
  use_odometry = false,
  use_nav_sat = false,
  num_laser_scans = 0,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 1,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = false
MAP_BUILDER.use_trajectory_builder_3d = true
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.use_imu_data = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.15
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(35.)

POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.global_sampling_ratio = 0.003
POSE_GRAPH.constraint_builder.min_score = 0.6
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.8

return options

[KleinYuan]

Close the issue since it's actually accurate.