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Ericsii / FAST_LIO_ROS2

ROS2 version of FAST_LIO2. Welcome to the technical communication discord server discord: https://discord.gg/U3B65MGH8m
GNU General Public License v2.0
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Time synchronization problem #5

Closed wyb17js closed 9 months ago

wyb17js commented 9 months ago

Hello author, I have experimented with your project on humble. My laser device is mid360, which has its own imu, but I don't know how to align the time stamps of the two, which causes my positioning to be easily lost and the odometry to drift.I noticed that you mentioned in the readme that in-program synchronization is not guaranteed to be valid. So I would like to ask if you have any good suggestions?

wyb17js commented 9 months ago

Sorry, I found that I seemed to ask you similar questions about dynamic time migration before, but you didn't have any good opinions, so I would like to know how I can judge whether my radar and imu timestamps are aligned through rosbag? Shouldn't there be multiple imu messages between the two frames?

Ericsii commented 9 months ago

You can try the rqt_bag tool to monitor the timestamp in rosbags. Just use APT to download this package ros-humble-rqt-bag

Ericsii commented 9 months ago

No new updates. Close the issue