have a error while i add IMU date for backpack_2d about cartographer_ros

[damonkohler]

My guess is that you've not changed your URDF to reflect the name of the IMU link "base_imu_link". This is more of a ROS issue than a Cartographer issue. I suggest taking followup questions to http://answers.ros.org/

[carl1218]

hi,
I added the IMU data in backpack_2d, but no matter how I placed the IMU in the direction（z or x or y-axis aligned wit word), I always get the Max inclination exceeded 20 warning:

[ WARN] [1479380979.407526014]: W1117 19:09:39.000000 78094 local_trajectory_builder.cc:241] Max inclination exceeded: 48.309 > 20
[ INFO] [1479380987.814185144]: I1117 19:09:47.000000 78094 collated_trajectory_builder.cc:79] imu rate: 48.76 Hz 2.05e-02 s +/- 2.00e-03 s (pulsed at 100.03% real time)

[damonkohler]

Sounds like a separate issue. Please open a new issue and include your configuration, URDF, launch files, specs for the IMU, and a bag.

[carl1218]

ok