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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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lidar_link to map transformation is not working #361

Open oskarmue opened 2 years ago

oskarmue commented 2 years ago

Hey @TixiaoShan thank you for the great work with Lio Sam. I am using a Robosense Bpearl Lidar with an Xsens IMU. I am using the XYZRIT point type and changed the timestamp to a relative time the same way it is done here: https://github.com/HViktorTsoi/rs_to_velodyne. The Lidar scans in a frquency of 10Hz, the IMU measures with a frequency of 200Hz. When I start Lio Sam, it builds a map, but the map is not accurate at all. I think the reason is, that the transformation from lidar link to map is not working right. In rviz it is flickering, so every now and then the transformation is working for a second and then not anymore. I think my transformation from imu to lidar is correct. What else should I check? from the Issue page the only thing might be the synchronization part of the imu and lidar, might that be my problem?

Lio_Sam_Problem

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.

enginksz commented 3 months ago

Hello, I encountered the same problem. Were you able to solve the problem?