FAST_LIO_LC

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Livox Avia launch

4

is it Livox Avia supported? how I launch it? there is not mention to it. thanks by share!!

FPSychotic

Submap for PGO?

8

Hi, @yanliang-wang Did u use submap for loop closure or just single frame?

YangSiri

播放demo包后报错:Ignoring transform for child_frame_id "aft_pgo" from authority "unknown_publisher" because of a nan value in the transform

3

roslaunch fast_lio mapping_velodyne.launch roslaunch aloam_velodyne fastlio_velodyne_VLP_16.launch rosbag play T3F2-2021-08-02-15-00-12.bag -r 2 在执行第3条命令,开始播放bag包后,就遇到如下截图的报错和结果: [ERROR] [1651823400.753885574]: Ignoring transform for child_frame_id "aft_pgo" from authority "unknown_publisher" because of a nan value in the transform...

XiaoJake

有关编译时gtsam库的问题

2

您好，首先非常感谢您优秀的工作！ 我在编译的时候出现了gtsam库中函数的问题，请问您遇到过这个问题吗？有没有什么解决的建议？ 

hr2894235132

from which imu sensor imu_data is taken? what exactly x, y, and z parameter resembles? and can I use wheel encoder data instead of imu_data?

ijklmnopqr

Warning Leaf size is reported

2

Dear author, Thank you very much for your excellent work. I would like to try FAST_LIO_LC package on my own dataset. However, when I run the roslaunch files, there is...

AmirulJ97

When using fast-lio-lc for outdoor mapping, there is a significant Z-axis drift

3

When a large range of outdoor mapping is carried out, the Z-axis will appear unacceptable drift. Can closed-loop optimization solve this problem? ![Uploading Snipaste_2023-12-21_11-58-34.png…]()

52SuyuZ

出现的问题

1

当我启动roslaunch aloam_velodyne fastlio_velodyne_VLP_16.launch时候出现报错 [alaserPGO-1] process has died [pid 41041, exit code 127, cmd /home/c307/last_ws/devel/lib/aloam_velodyne/alaserPGO /velodyne_points:=/velodyne_points /aft_mapped_to_init:=/Odometry /velodyne_cloud_registered_local:=/cloud_registered_body /cloud_for_scancontext:=/cloud_registered_lidar __name:=alaserPGO __log:=/home/c307/.ros/log/e11b8e0c-7d4b-11ee-8c02-f13796c8c84b/alaserPGO-1.log]. log file: /home/c307/.ros/log/e11b8e0c-7d4b-11ee-8c02-f13796c8c84b/alaserPGO-1*.log ![Uploading 2023-11-07 18-59-09 的屏幕截图.png…]() 这个怎么解决呀

KGrizi

请教下回环结果不反馈到前端的问题~！

5

FAST_LIO_LC的作者yanliang-wang,在FAST_LIO_SLAM的基础上添加了：1.基于Radius Search 基于欧式距离的回环检测搜索，增加回环搜索的鲁棒性；2.回环检测的优化结果，更新到FAST-LIO2的当前帧位姿中，幷进行ikdtree的重构，进而更新submap。 我想问个问题 如果做了回环检测优化位置后，不把优化后的结果更新到 fast lio，也不重构 ikdtree ，直接就用回环后的结果作为最后的结果，前端后端不耦合，完全分离，这样做有什么影响吗？ 不重构的话，当前实修正的里程计就没更新到 fastlio里，然后，fastlio的维护的submap还是原始的激光里程计 不用 fastlio 的结果作为最后的结果，只用回环后端的结果作为最后结果 Fatlio 就做为一个单纯的里程计 Fastlio 单纯的只输出，不接受回环输入 相当于没有实时修正 这样有个好处，即便原作者改了代码，因为二者不耦合，也可以继续使用，各自都是单独的模块 我的疑问就是这种方式有什么坏处 会不会修正了 fastlio 的 submap 会使得最后的结果更好，因为相当于一直在修正，对于激光里程计的结果也会更好，还是说对于最后的结果影响不大，因为后端在不停的修正漂移 谢谢您的回复~

lonlonago

double free

1

duyingchang