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Livox-SDK / LIO-Livox

A Robust LiDAR-Inertial Odometry for Livox LiDAR
BSD 3-Clause "New" or "Revised" License
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why PoseEstimation node only subscribe "/livox/imu" and "/livox_full_cloud" topic? #22

Open PyNancy opened 2 years ago

PyNancy commented 2 years ago

为什么 PoseEstimation 节点只订阅了 "/livox/imu" and "/livox_full_cloud" 这两个topic，而在ScanRegistration 部分的"/livox_less_sharp_cloud"，"/livox_less_flat_cloud"， "/livox_nonfeature_cloud"不需要订阅吗？

chengwei0427 commented 2 years ago

ScanRegistration 部分的"/livox_less_sharp_cloud"，"/livox_less_flat_cloud"， "/livox_nonfeature_cloud"不需要订阅; 应该是调试用的。

FPSychotic commented 1 year ago

ScanRegistration 部分的"/livox_less_sharp_cloud"，"/livox_less_flat_cloud"， "/livox_nonfeature_cloud"不需要订阅; 应该是调试用的。

So is it normal that topics don't show points in RVIZ? I have not points in that topics and no sure if the package is working as it should as I'm using Avia

full cloud and full cloud mapped topics show points, but they look are exact the same topic , I can't see points difference , maybe one is filtered of dynamic objects and the other only deskewed/undistorted? I added GPS, not sure what it does in this package.