li_slam won't start mapping

[SyahirMuzni]

Hi Mr. Sasaki.

I tried to launch li_slam. But it won't start to create map. Are there any steps that I missed?

[rsasaki0109]

How is it on rviz? There is too little information. Does the scanmatcher subscribe to the topic correctly?

If it is a scan matching issue, you can find more information below true. https://github.com/rsasaki0109/li_slam_ros2/blob/develop/scanmatcher/param/lio.yaml#L45

Have you configured imu properly? If not properly, LiDAR Inertial SLAM will not work. https://github.com/rsasaki0109/li_slam_ros2/blob/develop/scanmatcher/param/lio.yaml#L9-L20 I would like to know information about IMU. ・what kind of IMU you are using. (an IMU of about $10 may not work well) ・Frequency(It is better if it is above 200 Hz.) ・tf of LiDAR-IMU ・Noise and bias of IMU If you have not estimated the noise or bias of the IMU, please use the following package to do so. https://github.com/gaowenliang/imu_utils

[SyahirMuzni]

Hi there, Ok, I am currently working on the IMU configuration (noise & bias). For your information, I am using IMU (Xsens MTI-G-710). But how do I get the extrinsic Trans, Rot & RPY?

[rsasaki0109]

Please refer to the following https://github.com/TixiaoShan/LIO-SAM#prepare-imu-data

Note that li_slam_ros2 runs on 6-axis IMU.