RVIZ map generation vs position topics

[Cristian-wp]

Hello, I can not understand why the rviz visualization is "wrog" but the two position topics (/lvi_sam/lidar/mapping/odometry and /lvi_sam/mavisn/odometry/odometry) gives me a correct estimate position. I have test the same dataset with LIO-SAM and the resulting map is almost perfect (same for the position). Can someone explain this problem please? @TixiaoShan please can you explain me this behavior?

[Cristian-wp]

Update. Following this issue https://github.com/TixiaoShan/LVI-SAM/issues/22 I have reproduce my personal dataset whit the -r 0.5 of rosbag play and I have got perfect results. The issue I have linked says that the problem is the low computational power of my pc. I have event try to power up my cores (4 physical and 4 virtual) at the max frequency (4.2GHz) but nothing change when the rosbag is played normally.

@TixiaoShan @adthoms can you please ansewr? I can not understand how to fix this.

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