PreintegratedImuMeasurements::integrateMeasurement: dt <=0

YJZLuckyBoy / liorf

This repo is modified based on LIO_SAM, which remove the feature extraction module and makes it easier to adapt your sensor.

MIT License

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PreintegratedImuMeasurements::integrateMeasurement: dt <=0 #44

Closed Josgonmar closed 3 months ago

Josgonmar commented 3 months ago

Hi there!

I'm trying to use this algorithm with my data, but the IMU preintegration node keeps crashing.

terminate called after throwing an instance of 'std::runtime_error'
  what():  PreintegratedImuMeasurements::integrateMeasurement: dt <=0

My version of GTSAM is: libgtsam-dev is already the newest version (4.0.3-1ubuntu1)

Any idea why this is happening?

Josgonmar commented 3 months ago

It seemed that the timestamps of my IMU messages were not reliable, so the dt between messages was sometimes 0, leading to this error. I'm using gazebo btw.