hku-mars
Livox MID40 and external IMU
Hello All, seems like this question has been asked before, but with a translator I could not figure it out if the answer was a clear Yes. So please let me ask again, can i use a livox MID40 with an external IMU as the MID40 does not have an integrated IMU with FAST-LIVO2? Or probably the main issue is related to the pointcloud2 that the driver V1 do not provide a timestamp in the point cloud and the V2 driver includes a timestamp per point? Any advice for this configuration if its possible to use a MID40 with external IMU? I really want to be sure before jump and purchase a camera for this project.
Thank you!
我用的MID70+外置IMU，也做了硬同步，但怎么尝试效果都很不好，可能是MID70和AVIA扫描方式和数据量不同，有些参数要调整，还在寻找原因
I have worked on this for a while now and I think it should work with your MID70. I started to get results with the MID40, I did my own IMU with a STM32 and sync everything I started to do IMU-Lidar calibration but I updated ROS and now the Livox hard sync stopped working, still trying to find out why. But... I found out something, most of the time I got aprox 1sec delay between IMU-Lidar and it seems to exist a bug in the livox driver that cause this issue, it should work with the MID70, I think I was so close but this ROS update broke something in my enviroment, my main problem was identify the right axis in ROS vs my IMU using IMU plugin was my salvation as I could correct my axis vs my IMU, but in order to use IMU plugin I had to update ROS and since then the hard sync stopped working (I'm not a pro using ROS). For IMU LIDAR calibration I use another HKUMARS tool Imu Init and was kind of working If I made slow movements the mapping worked! but I'm kind of stuck now with the problem I mention. I suggest to find out the delay time between your IMU and Lidar messages, have all in sync with the minimum delay/jitter is a must, once this is done and verified I guess you should not have issues.