lidar_IMU_calib
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APRIL-ZJU
Using livox mid-70
I encounter the following error when I try to calibrate my livox-mid70 with handsfree imu
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ubuntu@ubuntu-desktop:~/ws_livox$ ./src/lidar_IMU_calib/calib.sh topic_imu:=/handsfree/imu path_bag:=/home/ubuntu/lidar_imu/test1.bag ndtResolution:=0.5
... logging to /home/ubuntu/.ros/log/14cbd238-2660-11ec-b544-00044bde7cf1/roslaunch-ubuntu-desktop-8159.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu-desktop:44951/
SUMMARY
PARAMETERS
- /li_calib_gui/LidarModel: livox_mid70
- /li_calib_gui/bag_durr: 30.0
- /li_calib_gui/bag_start: 1.0
- /li_calib_gui/ndtResolution: 0.5
- /li_calib_gui/path_bag: /home/ubuntu/lida...
- /li_calib_gui/scan4map: 15.0
- /li_calib_gui/show_ui: True
- /li_calib_gui/time_offset_padding: 0.015
- /li_calib_gui/topic_imu: /handsfree/imu
- /li_calib_gui/topic_lidar: /livox/lidar
- /rosdistro: melodic
- /rosversion: 1.14.11
NODES / li_calib_gui (li_calib/li_calib_gui)
ROS_MASTER_URI=http://localhost:11311
process[li_calib_gui-1]: started with pid [8178] [ WARN] [1633502308.162116800]: LiDAR model livox_mid70 not support yet.
Load dataset from /home/ubuntu/lidar_imu/test1.bag terminate called after throwing an instance of 'pcl::IsNotDenseException' what(): : Can't use 2D indexing with a unorganized point cloud [li_calib_gui-1] process has died [pid 8178, exit code -6, cmd /home/ubuntu/ws_livox/devel/lib/li_calib/li_calib_gui __name:=li_calib_gui __log:=/home/ubuntu/.ros/log/14cbd238-2660-11ec-b544-00044bde7cf1/li_calib_gui-1.log]. log file: /home/ubuntu/.ros/log/14cbd238-2660-11ec-b544-00044bde7cf1/li_calib_gui-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done ubuntu@ubuntu-desktop:~/ws_livox$
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What changes can I make to support the lidar livox mid-70? Thanks!
Hello,
Did you get any success with the Mid-70? Any insights will be appreciated. Thanks.
Hello,
Did you get any success with the Mid-70? Any insights will be appreciated. Thanks.
Maybe you can try LI-Init https://github.com/hku-mars/LiDAR_IMU_Init
