search

JokerJohn / LIO_SAM_6AXIS

LIO_SAM for 6-axis IMU and GNSS.
566 stars 115 forks source link

[ERROR] [1699926502.038509808]: sysyem need to be initialized #59

Closed Yi-Duo-Lee closed 7 months ago

Yi-Duo-Lee commented 8 months ago

Thanks!!! this is a nice work,but i have some problem when i launch test_vlp16.launch: [ERROR] [1699926501.924555409]: sysyem need to be initialized [ INFO] [1699926502.038431541]: GPS use to init pose [ERROR] [1699926502.038509808]: sysyem need to be initialized

this is my gps data when i start gps: latitude: 30.2238389781 longitude: 120.024643079 altitude: 13.96164608 latitude: 30.2238389796 longitude: 120.02464308 altitude: 13.9615831375 latitude: 30.2238389811 longitude: 120.024643081 altitude: 13.9615163803

JokerJohn commented 8 months ago

代码注释里面写了，这个问题说明没有得到很好的时间对齐的GPS数据，你可以在config yaml文件修改gpsFrequence，默认是10hz, 意味着GPS和最近的lidar帧时间戳距离在0.1s内才会考虑。你可以设置大点，比如5，对应0.2s

image