Point cloud timestamp not available, deskew function disabled, system will drift significantly!

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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Point cloud timestamp not available, deskew function disabled, system will drift significantly! #490

Open Mubashir-alam opened 8 months ago

Mubashir-alam commented 8 months ago

I have compile LIO-SAM for ros noetic and running rosbag file 2011_09_30_drive_0028.bag the map is incorrect I have swape extrinsicRot and extrinsicRPY in config/params.yaml file Screenshot from 2024-04-08 02-06-46

get the following warning

 WARN] [1712523467.662934945]: Point cloud timestamp not available, deskew function disabled, system will drift significantly!
[ WARN] [1712523471.275059903]: Large velocity, reset IMU-preintegration!

Wuxinao commented 6 months ago

hello, have you solved the problem?

Mubashir-alam commented 6 months ago

Unfortunately No

RodrigofrBastos commented 4 months ago

same problem running ROS2 branch

Petros626 commented 2 months ago

You must search in the old issues, I think this is already answered.. @Mubashir-alam why you didn't used the velodyne pc (29GB) instead of the single files.