search

TixiaoShan / LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
BSD 3-Clause "New" or "Revised" License
3.47k stars 1.27k forks source link

IMU preintegration restarted #427

Open HomieRegina opened 1 year ago

HomieRegina commented 1 year ago

Hi, thanks for your great work! I tried lio-sam to build the map. But when the bag is playing, it's normal at first. After a while, the terminal start reporting errors. There is a picture about the error. Have you ever met this error? Do you know how to solve this problem? 图片

Look forward to your reply! Thank you!

SlamSmallFish commented 1 year ago

I meet the same problem too. Can anyone solve this problem？

Reverie10 commented 1 year ago

imuAccNoise: 0 imuGyrNoise: 0 imuAccBiasN: 0 imuGyrBiasN: 0 If you set the parameters in your params.yaml file the same as the example given above, it will cause nan values to appear in the optimizer of the imupreintegration.cpp file, leading to optimization failure

Madhav2133 commented 1 year ago

Hi, I am facing a similar issue:

image

Can you please tell me if you were able to resolve this?

Dcasadoherraez commented 4 months ago

Same here using the sample datasets. Apparently it comes from NaN values computed by the imu preintegration:

[ WARN] [1721058402.293461363]: MSG to TF: Quaternion Not Properly Normalized
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)
         at line 240 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp