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                                            Breaking-Bugs

Large-scale map growth stalls with new_factors=0 new_values=0 logs

I have not experienced this problem so far even with larger maps. Could you share what hardware you are using and your config files? Is it a public dataset and...

Odometry Shows Movement/Rotation While Stationary with Unitree L2 on Jetson Orin

Try to use the imu_validator to confirm that you have correctly transformed the lidar into the imu frame. Here you can read more about it: https://github.com/koide3/glim/wiki/FAQ Hope this helps!