Dorothy-2016

> 你好，请问你的ros和pcl版本是多少？ ros是kinetic版， pcl1.7版

> 请问rviz有正常输出吗？ rviz也没有正常输出  我单独运行rosbag play outdoor1.bag文件是有图像输出的

> > > 请问rviz有正常输出吗？ > > > > > > rviz也没有正常输出 > >  > > 我单独运行rosbag play outdoor1.bag文件是有图像输出的 > > 这个情况看上去像是没有成功读取点云，这个outdoor1.bag是从我给的数据链接下载的demo数据吗 嗯嗯，是的，google云盘上下载的那个压缩包，我单独play bag文件的时候也是只看到图像话题数据，没有看到点云数据，开始我以为是tf没给对所以没显示

> > > > > 请问rviz有正常输出吗？ > > > > > > > > > > > > rviz也没有正常输出 > > > >  > > >...

 Finally, I saw the Lidar data when I set the fixed frame as livox_frame when run rviz on the outdoor1.bag. So it can be sure that...

@wangquan102 I have the same question when I run this linux code with my own camera and imu,Have you solved it?

OK, I will try it and thanks very much for your kindly reply!

Do you guys use the imu in livox360? If you use the imu from livox360, its frequency is 200HZ, and imuType need set to 0, am I understanding correctly? @YJZLuckyBoy...