FAST_LIO

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Dear Friends, I am using the latest release of this project from https://github.com/hku-mars/FAST_LIO.git and updated it using git submodule update --init . My setup is : Livox horizon sensor

• Cuav X7 pro(used as IMU and reading through MAVROS)
• CUAV C-RTK (connected to X7pro)
• Jetson Xavier NX 8GB embedded computer
• time synchronization is the software type by using ( time_sync_en: true )

The problems I have got: 1- when lidar faces ground or a big wall the scan will be corrupted (localization problem) 2- I have loop-closing problem and the loop is not closed! 3- I can not set scan rate more than 10 hz and when I use more frequency the Rviz and my computer will be hanged-out and not respond. 4- I wand my point-cloud to be Geo-referenced with RTK data and how should I do it?

any help will be much appreciate

1. set the blind value lower, default is 4 meters "blind: 4"
2. fast_lio does not loop close this is normal.
3. try faster_lio with rviz:=false to create the scans.pcd file (headless / no rviz)

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