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gisbi-kim / FAST_LIO_SLAM

LiDAR SLAM = FAST-LIO + Scan Context
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The PGO loops forever #28

Closed JzHuai0108 closed 1 year ago

JzHuai0108 commented 2 years ago

Thank you for the great work. In running fastlio_slam, one inconvenience I have experienced is that the SC_PGO loops for ever long after the rosbag have completed. Do you have some suggestion on how to terminate the PGO loop besides using Ctrl+C in the terminal?

Thanks,

qlibp commented 1 year ago

SC_PGO should loop, but it may not need to keep invoking runISAM2opt(). Just add one more conditional flag to skip this.

JzHuai0108 commented 1 year ago

Thank you for the reply. So I did.