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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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Problem when running on custom data. #218

Closed nickle-fang closed 3 years ago

nickle-fang commented 3 years ago

I use HESAI lidar to collect a rosbag. The rosbag info is as follows:

path:        final_change.bag
version:     2.0
duration:    5:31s (331s)
start:       Jan 08 2021 14:16:18.56 (1610086578.56)
end:         Jan 08 2021 14:21:49.73 (1610086909.73)
size:        6.8 GB
messages:    1289
compression: none [1250/1250 chunks]
types:       rosgraph_msgs/Log       [acffd30cd6b6de30f120938c17c593fb]
             sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
topics:      /rosout              21 msgs    : rosgraph_msgs/Log      
             /rosout_agg          18 msgs    : rosgraph_msgs/Log      
             /velodyne_points   1250 msgs    : sensor_msgs/PointCloud2

And the frame_id of the pointcloud is 'velodyne', which is the same as the official dataset.

But when I run rosbag play final_change.bag --clock --topic /velodyne_points I can't get the odom and rviz reported error: image

Oyssster commented 3 years ago

Hello, I meet the same error, have you solved the problem?

juliangaal commented 3 years ago

It doesn't seem like you are playing imu data!

SiyuanHuang95 commented 3 years ago

https://github.com/RobustFieldAutonomyLab/LeGO-LOAM/issues/218#issuecomment-825700874

IMU data is not required indeed. I do not think that should be the problem.

stale[bot] commented 3 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.