Open BcnMa opened 5 months ago
If it's convenient, you can send me your dataset and I'll conduct a test to check where the problem is coming from.
Thank you for your help,here is the link to my dataset. https://drive.google.com/file/d/1uvcEL8cqEKgXLLmhEUKVqklCAnA39RL1/view?usp=drive_link
@YWL0720
Hello, thank you for your excellent work.
I'm currently experiencing the same issue. Initially, everything fits well, but after 2-3 seconds, it starts to drift significantly.
I used an Xsens IMU, so I updated the mid360.yaml file according to the results from LiDAR_IMU_Init.
common:
lid_topic: "/livox/lidar"
imu_topic: "/imu/data"
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
time_offset_lidar_to_imu: -0.005871 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README).
# This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0
localization_mode: 1 # 1 for given init pose, 2 for dynamic init
preprocess:
lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
scan_line: 4
blind: 0.5
mapping:
acc_cov: 0.1
gyr_cov: 0.1
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
fov_degree: 360
det_range: 100.0
extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic
extrinsic_T: [ -0.005493, 0.100548, 0.063784 ]
extrinsic_R: [ 2.955009, 0, 0,
0, 0.446404, 0,
0, 0, -2.249927]
publish:
path_en: true
scan_publish_en: true # false: close all the point cloud output
dense_publish_en: true # false: low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: true
interval: -1
Here is my bag file.
https://drive.google.com/file/d/1xo4kczCZlenbRv1dfkr0bpFXZ9oRMS62/view?usp=drive_link
thanks
My lidar is a MID360, placed upside down on the robot, mapped through your FAST LIO package, and ran the result in FAST-LOCALIZATION, but only the first frame matched and the effect was good, and then it started Very serious drift, how should I solve it?