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hku-mars / FAST-LIVO

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).
GNU General Public License v2.0
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IMU question : Average? #34

Closed Camilochiang closed 1 year ago

Camilochiang commented 1 year ago

Good day. Does anybody knows what the author is doing with the IMU data ? The original livox ros driver ouput either 0 or 200 HZ, meanwhile the supplied bags are sync to the same frecuency between IMU and LiDAR (and same timestamp). You can see it here for example

Thanks!

xuankuzcr commented 1 year ago

Hi, thanks for your interest. The IMU frequency in the bags tested by LIVO is about 200Hz. As for the visualization of rqt_bag, you should zoom in to see the IMU messages.