LIO-SAM

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GPS Implementation

2

Hi, I would like to integrate my own GPS data to Lio-sam. The topic names of IMU and Lidar data is different but i can get the trajectory and the...

mistercherryy

Hello, Dr.Shan, Thanks for your work! I noticed in your code for the factor graph subgraph, you optimize the IMU bias using 100 LIDAR poses, and then use the new...

JokerJohn

Thankyou for this wonderful project. I am trying this slam using ouster os1 - 64 and xsens MTi 680-g imu sensor. Everything is launching fine after I changed the parameters...

softwaredeveloper0990

ROS2 Docker

1

I am currently working with LIO_SAM ros2 branch and noticed that the ros1 branch has a docker setup available. It would be great to have a ROS2 docker setup available...

VineetTambe

IMU preintegration restarted

3

Hi, thanks for your great work! I tried lio-sam to build the map. But when the bag is playing, it's normal at first. After a while, the terminal start reporting...

HomieRegina

[here](https://github.com/TixiaoShan/LIO-SAM/blob/master/config/doc/kitti2bag/kitti2bag.py#L238)，the intensity component is included to calculate norm.The code may need to be changed to: `depth = np.linalg.norm(scan[:,:3], 2, axis=1)`

ghost

lidar_link and base_link coordinate System issue

1

Run in Ubuntu 22.04 ROS2(humble) When I run the dataset with "campus_small_dataset", and the config parmas is correct, I can get the total pointcloud, but the base_link is error (the...

MoZhenJ

What is the difference between * and *_ incremental?

2

What is the difference between * and *_ incremental, how to understand it. Thank you! Below is a test image: 

Jack1412

Reconstruct jump and error

8

Hello, I'm new to try LIO-SAM by my own data. Initially my Lidar TF drift a little but reconstruct doesn't failed (Really god bless). But after my AMR go straight...

j953302

Can the map building process of lio_sam be accelerated?

2

I use the pre-recorded bag package to build the map. Using the “rosbag play -r ” command to speed up will make it report an error''Large velocity, reset IMU-preintegration!" Is...

Stream11