How to run LIO-SAM with the RSlidar 16-line Lidar in ROS2?

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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How to run LIO-SAM with the RSlidar 16-line Lidar in ROS2? #431

Open LHZ-code opened 1 year ago

LHZ-code commented 1 year ago

The issue I'm currently facing is that the Hesai Lidar's driver provides timestamps in timestamp format, while LIO-SAM expects point cloud data with timestamps in time format. Will this have any impact? Additionally, are there any other considerations to keep in mind?"

TZECHIN6 commented 11 months ago

Might be just modify the rslidar_sdk to that it publish the timestamp in name of time