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RoboSense-LiDAR / rslidar_sdk

RoboSense LiDAR SDK for ROS & ROS2
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Using official rslidar sdk to capture point cloud for LIO-SAM #134

Open TZECHIN6 opened 1 year ago

TZECHIN6 commented 1 year ago

As rslidar sdk now can publish XYZIRT pointcloud directly, has anyone tried to use it with LIO-SAM directly?

Do we still need to use rs_to_velodyne to post processing the pointcloud before inputting to LIO-SAM node?

Great thanks!

pvela2017 commented 1 year ago

Hello, I'm new in this field, is there a difference between [robosense XYZIRT] and [velodyne XYZIRT] information?

TZECHIN6 commented 1 year ago

I believe at least the naming of it is different, e.g. timestamp and ts. For the actual data representation, I am not so sure, thus I have asked this question in here.

pvela2017 commented 1 year ago

I see, it happens I have a robosense lidar and velodyne lidar. I could test both but I need some guidance on what to look for

pvela2017 commented 1 year ago

Hi, I tried the optimized-sc-f-loam with the robosense lidar compiled using XYZIRT and got the following error: [pcl::PCDWriter::writeBinary] Input point cloud has no data! Then tried it with the rs_to_velodyne package and got the same error.

Now, Im testing the velodyne one.