LIO-SAM

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IMU to LiDar Transform

1

 Hi I have a tilted LiDar and I dont really understand how to write the extrinsic Transformations. I think it schould be [0, 0, -1, 0, 1, 0, 1,...

oskarmue

Rotational offset of LIDAR

6

Hi, I have a Ouster1-32 lidar mounted 45 degrees facing northwest whereas my IMU (MTi630 R) is facing north.  Will this set up still work with LIO-SAM? If so,...

MrOCW

Starting position error

3

Hello, I am using LIO-SAM with Mavros on a drone. I am facing an initial position problem, when my system start I see my initial pose orientation rotated about the...

Cristian-wp

Hardware used

2

Hello, I'm really interested in the hardware you used with the handheld scanner as shown in this photo:  For what I see: - Intel NUC - Velodyne VLP-16 Is...

IArchi

build error : Boost not found

3

Build System - [x] Ubuntu 20.04 - [x] ROS foxy - [X] ros2 branch Hi, As I am new to the ROS2 and i am building this Slam algorithm on...

shashankkapoor

High frequency IMU topic acts wierd.

4

Hi, thanks for the great code. I am using Velodyne VLP-16 lidar and Xsens MTi-3 imu for building map. When the freq of lidar topic is 10hz and freq of...

vinci-xiao

seems a very tiny bug??

1

imuPreintergration.cpp:48~52 ``` try { tfListener.waitForTransform(lidarFrame, baselinkFrame, ros::Time(0), ros::Duration(3.0)); tfListener.lookupTransform(lidarFrame, baselinkFrame, ros::Time(0), lidar2Baselink); } ``` It looks like to obtain lidar to baselink static transform. However, I googled what ```lookupTransform``` returns...

Rick0514

Is the statement about extrinsicRPY in the readme wrong?

51

Hi @TixiaoShan, thanks for your execllent work! However, after reading your answer in #6 and the explaination in the **IMU alignment** part of readme, I am still puzzled about the...

inntoy

How to configure LIO-SAM with a vectornav VN100 and a velodyne VLP-16

1

Hi, as the title suggest I am trying to use this slam in my work with a lidar velodyne vlp16 and a imu vectornav vn100. I have problem finding the...

Cristian-wp

Hi everyone, Have anyone here tried to pass non-uniform lidar data such as RS-Lidar 32 data (Robosense) that have this kind of distribution?  What do you think...

robertsenputras