Large localization errors when running with only D435i

[mit-spark]

Large localization errors when running with only D435i

[violetteavi]

Just saw that you made a new issue-- I've replied to your original question here
Can you check to see if Kimera is working properly using this rosbag?

[BarzelS]

Just saw that you made a new issue-- I've replied to your original question here
Can you check to see if Kimera is working properly using this rosbag?

Yes, it's working properly, but its a short bag. For example in my place(indoor environment), I'm recording a bag file which includes:

1. Starting from a point at my table.
2. Walking to the next room(5m away).
3. Going back to the starting point at my table.
   Excepted result: world to base link tf: x=0, y=0, z=0
   But I'm getting:
   frame_id: "world"
   child_frame_id: "base_link"
   transform:
   translation:
   x: -1.25345615507
   y: -0.320596752833
   z: 0.992033035094

Thanks