LIO-SAM

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Hi! If I want to integrate a camera to recognize road signs or traffic lights, how should I incorporate this sensor into the decision-making layer?

brian890815

[ERROR] Invalid Sensor Type

1

I got some problems when I run `roslaunch lio_sam run.launch`, the results are some error messages as I mentioned in title, I found this error message was mentioned in utility.h...

moonriver0922

Do not understand the difference between the extrinsicRot and extrinsicRPY matrices in the params.yaml file

3

Hi Trixiao! Thank you for sharing your amazing work! Can I ask what the difference between the extrinisicRot and extrinsicRPY is? Currently, to get from my imu frame to my...

brandon-lawrence96

"Large velocity, reset IMU-preintegration!"

3

I tried to run this algorithm with **livox mid70** lidar. The error "_Large velocity, reset IMU preintegration!_" appeared, and the trajectory could be seen flying in _rviz_. The parameters related...

wwdlh

How to run LIO-SAM with the RSlidar 16-line Lidar in ROS2?

1

The issue I'm currently facing is that the Hesai Lidar's driver provides timestamps in timestamp format, while LIO-SAM expects point cloud data with timestamps in time format. Will this have...

LHZ-code

LIO-SAM Velodyne 16

1

I have LIO-SAM working with Velodyne 16 on [my fork](https://github.com/VineetTambe/LIO-SAM/tree/ros2-velodyne). I had to modify the way the "ring" parameter was updated as it was not available in the standard pcl...

VineetTambe

ROS2 save pcd file failed @hitbg-yjm

1

thanks for your great job, and how to solve this problem in ROS2 @hitbg-yjm - [I just made a new push for this problem.](https://github.com/TixiaoShan/LIO-SAM/commit/64a10e8e996ffee7154f144dbdeb6e2425dea9b9) - You also need to use...

lushengyao

Including heading/yaw of dual antenna GPS

1

Currently I build a map for a while before getting GPS signal. When I get GPS signal, the map/cloud position is updated, but orientation stays the same than where the...

lio94

imuPreintegration.cpp issue

1

Excuse me, why do we need to transform the pose of the lidar odometry into the IMU coordinate system in the odometryHandler at this node, and then transform it back...

LHZ-code

后端优化中，平面点优化为什么开两次更号？

1

大家好！ if (planeValid) { float pd2 = pa * pointSel.x + pb * pointSel.y + pc * pointSel.z + pd; float s = 1 - 0.9 * fabs(pd2) / sqrt(sqrt(pointOri.x...

LHZ-code