Open j953302 opened 1 year ago
Hello, can I communicate with you about running lio-sam with ROS2? How can I get in touch with you?
Hello, can I communicate with you about running lio-sam with ROS2? How can I get in touch with you?
Sure. Could you give me your email? I could send you email in private.
1337551819@qq.com
Same problem here under ros2-humble. Do you have found the reason for that behaviour?
@lukasj-imar Unfortunately no. But I change to use other person's open source which based on LIO-SAM. I think the problem comes from IMU. But I didn't know the reason.
@lukasj-imar Unfortunately no. But I change to use other person's open source which based on LIO-SAM. I think the problem comes from IMU. But I didn't know the reason.
可以解决这个问题嘛,那个开源的基于lio-sam的,如果可以的话,可以分享一下嘛
@lukasj-imar Sure. You could check li-slam-ros2 https://github.com/rsasaki0109/li_slam_ros2
I found a solution for my problem, check: https://github.com/TixiaoShan/LIO-SAM/issues/437
Hello, I'm new to try LIO-SAM by my own data. Initially my Lidar TF drift a little but reconstruct doesn't failed (Really god bless). But after my AMR go straight it will jump and then fail reconstruct. Below shared the picture of my rviz and bag data.
Here is the some my data describe:
the problem picture :
the params.yaml:
ros__parameters:
ROS2 bag data include lidar data % imu data
ROS2 bag : https://drive.google.com/file/d/1mcWyffvXN4X3OiJ3ntP_UOecvU6WCeod/view?usp=sharing lidar data : /points imu data : /imu
I have try change extrinsicRot and extrinsicRPY, and I have get a perfact model once. But only once. It was very tricky. Could anyone give me advise and if I have new finding update here. Thanks.