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TixiaoShan / LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
BSD 3-Clause "New" or "Revised" License
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High frequency IMU topic acts wierd. #351

Open vinci-xiao opened 2 years ago

vinci-xiao commented 2 years ago

Hi, thanks for the great code. I am using Velodyne VLP-16 lidar and Xsens MTi-3 imu for building map. When the freq of lidar topic is 10hz and freq of the IMU topic to 10hz, at least the base_link looks fine near the odom. 10hz_imu

But when I increase the freq of the IMU topic from 10 to 100 hz, the base_link goes wrong.*(the path has a spiral pattern even the lidar and imu are standing still) imu_100hz

Here is my setting:

LIDAR
            x
       ^                                     
       |
<------o  z     
y

IMU
            x
       ^                                     
       |
<------o  z     
y

The README suggest us to use 500hz on IMU, so I think maybe something wrong with my setting? Or should I just go with 10hz on IMU?

aniketkalra11 commented 2 years ago

I am also facing the same issue even though I am using 200hz of imu data

learnhard22 commented 2 years ago

Hey,

I'm also having this issue with my IMU (SBG ellipseD). The IMU is flickering a little bit in all directions with a frequency of 200Hz. A few changes may need to be done in the settings but I am currently not able to figure out where the problem is exactly. My settings of the frame directions are the same as @vinci-xiao.

Did anybody solved this problem already?

All the best, Lennard

stale[bot] commented 2 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.

PranavShevkar commented 9 months ago

I am facing the same issue. Did anyone find any solution