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Taeyoung96 / FAST_LIO_ROS2

[ROS2 humble] ROS2 wrapper for FAST-LIO package
GNU General Public License v2.0
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Fast-LIO not working properly with MID360 LiDAR #11

Open ylenianistico opened 3 months ago

ylenianistico commented 3 months ago

Hello! Thank you very much for this work. I am trying to run Fast-LIO with data recorded (ros2 bag) from a LiDAR MID360.

The rosbag contains the topics

/livox/imu
/livox/lidar

To launch FAST-LIO, I'm doing

ros2 launch fast_lio mapping_mid360.launch.py

and then I play the rosbag. But when it starts reading messages from the /livox/topics I get this error:

[fastlio_mapping-1] Failed to find match for field 'reflectivity'

I think this is because Fast-LIO is expecting a field named reflectivity, but my LiDAR point cloud doesn't include this field (it only has x, y, z, intensity, tag, line, and timestamp).

I tried to modify the code here slightly, but I didn't manage to make it work.

Have you ever faced this problem?

Thanks again

Taeyoung96 commented 2 months ago

@ylenianistico
Thanks for testing our work!
Unfortunately, I haven't tested with MID360, but I have a few questions.

What config file and launch file did you use?
If you used mid360.yaml, could you change the preprocess to the following? 

preprocess:
    lidar_type: 1                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
    scan_line: 4
    blind: 0.5
    # timestamp_unit: 3
imdsafi09 commented 1 month ago

Hi, I tried to run it with ouster-128. The algorithm seems to work with the same output as above, but in my case, it's only "ring," as shown in the screenshot. I am using the Ouster-64 configuration as follows: preprocess: lidar_type: 3 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, scan_line: 128 blind: 2.0 timestamp_unit: 3 scan_rate: 10

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