cartographer map to base_footprint tf variation issue in online mode

[SAURABHRAHATEKAR]

I'm working on an AGV. I have an Ouster os1 sensor. I want to use the cartographer online for 3d mapping for outdoor purposes. The robot base starts rotating and jumping in riz when I run the online mode. But everything works perfectly when using the bag file of the same agv and running it offline with the same lua configuration.
here's my Lua configuration:

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

options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "os_imu",
published_frame = "base_footprint",
odom_frame = "odom",
provide_odom_frame = false,
publish_frame_projected_to_2d = false,
use_pose_extrapolator = true,
use_odometry = false,
use_nav_sat = false,
use_landmarks = 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 = 0.5,
pose_publish_period_sec = 10e-3,
trajectory_publish_period_sec = 50e-3,
rangefinder_sampling_ratio = 1.0,
odometry_sampling_ratio = 1.0,
fixed_frame_pose_sampling_ratio = 1.0,
imu_sampling_ratio = 1.0,
landmarks_sampling_ratio = 1.0,
}

TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 1
TRAJECTORY_BUILDER_3D.voxel_filter_size = 0.1

TRAJECTORY_BUILDER_3D.motion_filter = {
max_time_seconds = 0.5,
max_distance_meters = 0.05,
max_angle_radians = math.rad(1.0),
}

MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 4

POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.optimize_every_n_nodes = 320
POSE_GRAPH.constraint_builder.sampling_ratio = 0.1
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
POSE_GRAPH.constraint_builder.min_score = 0.55
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.6

return options

I'm also sharing the video links of both offline and online modes:
Offline Mode
Online Mode
Please help.

[turtlewizard73]

Hi @SAURABHRAHATEKAR !
Is this problem still alive for you?
Have you tried changing tracking_frame to ǫdom?