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YJZLuckyBoy / liorf_localization

A simple location system based on a priori map, which is based on the lio-sam framework
MIT License
105 stars 25 forks source link

Correct time is slow？ #1

Closed qpc001 closed 1 year ago

qpc001 commented 1 year ago 
rostopic hz /liorf_localization/mapping/path
subscribed to [/liorf_localization/mapping/path]
average rate: 1.386
    min: 0.722s max: 0.722s std dev: 0.00000s window: 2
average rate: 1.350
    min: 0.722s max: 0.760s std dev: 0.01928s window: 3
average rate: 1.361
    min: 0.722s max: 0.760s std dev: 0.01786s window: 4
average rate: 1.368
    min: 0.722s max: 0.760s std dev: 0.01481s window: 6
average rate: 1.360
    min: 0.722s max: 0.760s std dev: 0.01710s window: 7
average rate: 1.358
    min: 0.722s max: 0.760s std dev: 0.01600s window: 8
^Caverage rate: 1.357
    min: 0.722s max: 0.760s std dev: 0.01507s window: 9
YJZLuckyBoy commented 1 year ago

Maybe your map is too large, you can increase the downsample rate(e.g. 0.5-0.8).

For high-frequency positioning output, you can use "odometry/imu".