search

TixiaoShan / LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
BSD 3-Clause "New" or "Revised" License
3.34k stars 1.24k forks source link

frames going crazy #409

Open Zermelo-101 opened 1 year ago

Zermelo-101 commented 1 year ago

Hi We are using liosam with an ouster lidar on ROS2. We have been having a problem with the lidar_link and odom frames. The picture below shows the frames on rviz. The lidar wasn't even moving. We tried to simulate a 9 axis imu with the imu of the ouster lidar by doing the following:


`imuData.orientation.w = 1.0
        imuData.orientation.x = 0.0 
        imuData.orientation.y = 0.0
        imuData.orientation.z = 0.0
        imuData.orientation_covariance = (
            100000.0, 0.0, 0.0,
            0.0, 100000.0, 0.0,
            0.0, 0.0, 100000.0)`
``

![image](https://user-images.githubusercontent.com/74428609/227377862-015960ed-c626-46a2-8e84-90f1e6301b47.png)

What do you think could be the issue? 
Note that this way of simulating the 9 axis imu worked for us in our ROS1 project version
AylonPinto95 commented 5 months ago

I think i have a simular issue. I am using Humble on Ubunto 22.04 and a bag file of ouster os0-128. The lidar and base_link frames are jumping all over the place in rviz. I use imu_filter_madgwick from https://github.com/CCNYRoboticsLab/imu_tools to add the orientation Axes for my imu. Did you solve the issue?