Altitude handling very badly

[rien88]

Does this SLAM method not take into account altitude for a UAV? I've tested several configurations with a 16-scan lidar in AirSim and altitude makes no sense, it doesn't show the base_link axes moving vertically on takeoff. When the lidar is mounted normally, scanning in 360 horizontally, there is no motion in the base_link axis on takeoff. When it is mounted at 90degrees rotation, so scanning 360 vertically, on takeoff it moves horizontally.

[jorgeffonte]

Same here, in ntu viral dataset. X,Y path is accurate but there is no chango on altitude