Hello TixiaoShan, I am trying to run LIOSAM using an Ouster 64 LiDAR and Xsens MTi 670G 9-axis IMU on ROS2 Foxy. I used the bluespace_ai repo for the imu and the ouster_ros drivers provided by ouster for the lidar. At first when the data was not visible on the rviz screen, I got to know that there was a time synchronization issue between my ouster and imu. After using the sudo ptpd -i enxa0cec8fb57c3 -M -V which synchronized the header stamps of both the /ouster/points and /imu/data, I could observe the LIOSAM data on the rviz screen. But then I started getting the below error.
[lio_sam_imuPreintegration-3] [ERROR] [1689143066.422097210] [lio_sam_imuPreintegration]: Lookup would require extrapolation at time 1689143066.255501, but only time 1689143066.262720 is in the buffer, when looking up transform from frame [base_link] to frame [lidar_link] [lio_sam_imuPreintegration-3] [WARN] [1689143067.443115554] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
Hello TixiaoShan, I am trying to run LIOSAM using an Ouster 64 LiDAR and Xsens MTi 670G 9-axis IMU on ROS2 Foxy. I used the bluespace_ai repo for the imu and the ouster_ros drivers provided by ouster for the lidar. At first when the data was not visible on the rviz screen, I got to know that there was a time synchronization issue between my ouster and imu. After using the
sudo ptpd -i enxa0cec8fb57c3 -M -V
which synchronized the header stamps of both the /ouster/points and /imu/data, I could observe the LIOSAM data on the rviz screen. But then I started getting the below error.[lio_sam_imuPreintegration-3] [ERROR] [1689143066.422097210] [lio_sam_imuPreintegration]: Lookup would require extrapolation at time 1689143066.255501, but only time 1689143066.262720 is in the buffer, when looking up transform from frame [base_link] to frame [lidar_link] [lio_sam_imuPreintegration-3] [WARN] [1689143067.443115554] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
https://github.com/TixiaoShan/LIO-SAM/assets/87766686/3e97b3d6-385d-4639-a55c-ed92c975a182
Please help me understand what the problem here is and help me rectify the issue. Given below is my param file. /**: ros__parameters:
Below is my ros2 topic echo /imu/data output `header: stamp: sec: 1689156762 nanosec: 606412815 frame_id: imu_link orientation: x: 0.005952544044703246 y: 0.0018730583833530547 z: 0.7793466448783876 w: 0.6265620589256288 orientation_covariance:
0.0
header: stamp: sec: 1689156762 nanosec: 606431003 frame_id: imu_link orientation: x: 0.005959950853139163 y: 0.001867177779786289 z: 0.7793502807617188 w: 0.626557469367981 orientation_covariance:
0.0
header: stamp: sec: 1689156762 nanosec: 606439712 frame_id: imu_link orientation: x: 0.005967925302684307 y: 0.001866090577095747 z: 0.7793502807617188 w: 0.6265574097633363 orientation_covariance:
0.0
`