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gisbi-kim / SC-A-LOAM

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.
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running crashed with Mid-70+ex-imu #9

Open gongyue666 opened 2 years ago

gongyue666 commented 2 years ago

Hi, I use livox mid 70 with a extend imu running fast-lio，and it looks good. but when I run another node in SC-PGO it always crashed at begining, the log in screen is "running isam2 optimization",and after some lines like this, the ros node is crashed. my launch file is below:

gongyue666 commented 2 years ago

I check the topics "Odometry" and "/cloud_registered_body", both received the msgs. I do not have a gps msg.

gongyue666 commented 2 years ago

the crash may caused by LoopFindNearKeyframesCloud() in laserPoserGraphOptimization.cpp, but it's strange that I add a log at the end of this function, it show the log, and then crash. By the way, my robot is not moving now.

gisbi-kim commented 2 years ago

@gongyue666 have you tried fast-lio-slam?