LIO-SAM
LIO-SAM copied to clipboard
TixiaoShan
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
Why the child_frame_id of publishOdometry() function is the "odom_mapping"? Shouldn't it be the lidarFrame variable? I find it logical cause later we publish a TF from odom to lidar with...
Eigen::Affine3f transBt = transBegin.inverse() * transEnd; in imageProjection.cpp line 568 why not trans_e_s = transEnd * transBegin.inverse() , It make me very confused！
Thank you for your excellent work. I have some questions concerning the repo implementation. I launched my Velodyne lidar's VLB16points.launch file in Velodyne and the run.launch file in your LIO-SAM...
Hi, thank you for your great work. I have a problem. When I use docker to run lio-sam, I somehow cannot save the pcd file by modifying the param.yaml parameter....
Hello everyone, I'm using LIO-SAM on a Go1 robot dog from Unitree and a RS16 Lidar. When I launch **roslaunch start build_map.launch map_name:=my_map_name** it gives me this warning "**Large velocity,...
An error message appears when I run bag： [ERROR] [1701932176.859127476]: Client [/lio_sam_mapOptmization] wants topic /gps/fix to have datatype/md5sum [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7], but our version has [sensor_msgs/NavSatFix/2d3a8cd499b9b4a0249fb98fd05cfa48]. Dropping connection. The error shows that...
If my GPS device is a cheap one which gives ~5m positioning error, is it still possible to use it and will it worsen the localization result? If yes, what...
Hi everybody, while testing ROS2-LIO-SAM on different machines, I encountered a problem related to the native high latency of the OS (Ubuntu 22.04 TLS, kernel: 5.19.0-45-generic). As a result of...
In imageProjection.cpp in the cachePointCloud() function, at the very start, the cloudQueue is not processed till it has 2 elements. And after that is processes the oldest element in time...
Metadata
Owner
Metadata
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping