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Livox-SDK / livox_ros_driver2

Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
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Why MID360 topics are varying in rosbag record. #111

Open rahulsharma11 opened 7 months ago

rahulsharma11 commented 7 months ago

Hi.

I am using MID360 for my application to build the SLAM. I am using FASTLIO for that. It usually works great.

Issue: I am doing data collection for more than 40 mins at single run and splitting the dump on every 30 seconds. Topics should be consistent like: bagfile1: /livox/imu -> 6000 /livox/lidar -> 300

bagfile2: /livox/imu -> 6000 /livox/lidar -> 300

.....

But randomly i am getting: bagfile 4: /livox/imu -> 5900 /livox/lidar -> 112

bagfile 10: /livox/imu -> 5920 /livox/lidar -> 210

bagfile 20: /livox/imu -> 5898 /livox/lidar -> 63

The topics are fine in other bag files.

This is happening so random that makes my SLAM drift. I am not sure why it is happening. I am taking precautions of Lidar Connections as well. Any suggestions?

Thanks.

wuh15 commented 3 months ago

I have the same problem.Do you solved it?

rahulsharma11 commented 3 months ago

No. Not yet