Closed cbaus closed 3 years ago
@cbaus sorry for the late response.
This is not a direct answer for you, but I think
Thank you!
Thanks for your kind reply. I ended up using another repository of yours for non-imu data and adjusted it to give the required output that Removert needs. It worked quite well even with the KITTI dataset. Maybe I'll go back and try with adding the IMU data at some point via SC-LIO-SAM.
Here is a summary of the steps and the code adjustment required for SC-LeGO-LOAM
Hope you like it. In any case, I like the stuff you are working on :+1:
@cbaus great! and thank you for the nice article that summarized our works :)
Issue #3 is already closed let me start a new one and go a bit more into details. You suggested using mini-kitti-publisher. However, It doesn't publish the IMU data so I went ahead with kitti2bag. I am getting multiple error messages. Could you @gisbi-kim comment if this is serious and how to fix them?
This error comes even before I play the rosbag
Client [/lio_sam_imageProjection] wants topic /kitti/oxts/imu to have datatype/md5sum [sensor_msgs/Imu/6a62c6daae103f4ff57a132d6f95cec2], but our version has [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7]. Dropping connection.
and repeats all throughout the run. I have set the topics as follows:There is no separate odomTopic availble. Is it needed?
Ring and intensity is always 0 in the kitti2bag file. Is this problematic?
I added some code to treat the NaN value in the clouds that would through another error. I replaced the lines in
imageProjection.cpp
with