How to train the model with the robot moving ?

[lenhatquang2512]

Hello, thank you for your great project. I have configured the launch file so that the project can be run on Ubuntu 20.04. Also, I have created some bag files with 3 topics recorded, /velodyne_packets, /odom, and /tf so that I can train and built my own pedestrian model.

However, as far as I know, does the training process can only be run when the robot is stable? In other words, when I move the robot with LiDAR, the model was not good even though there were so many support vectors. So my question is how can I train in a large environment which requires the robot to move? Also, can it be possible to train with multiple bag files respectively ? For example, can I record bag files in different locations and train them altogether? If I misunderstood anything, please let me know. Thank you for your time and consideration.