odometry results are inconsistent

[NHMMing]

Thanks for your amazing work! However, I've found some problems in testing on my own outdoor dataset recently.

Pointcloud and IMU data are collected by Livox AVIA. Using livox_ros_driver/lvx_to_rosbag.launch to transform format of data.(lvx -> bag). Set parameter "xfer_format" to "1".

I am testing on two laptops:

• A: one is i7-6600U @ 2.60GHz x 4, ubuntu16.04, ros kinetic 1.12.16.
• B: the other is i7-11800H @ 2.30GHz x 16, ubuntu20.04, ros noetic 1.15.14 parameters: rviz: false, time_sync_en: true, path_en: false, scan_publish_en: false, dense_publish_en: false, scan_bodyframe_pub_en: false, pcd_save_en: false. The remaining parameters are set to default.

To save odometry result, I add some code between "set_posestamp(odomAftMapped.pose)" and "pubOdomAftMapped.publish(odomAftMapped)" in the function "publish_odometry( )".

I‘ve tested twice on each machine by using same dataset. Here are some specific problems:

1. Results on same machine(A or B) are inconsistent. Translation difference in some frames is even more than 100m in two trajectories.
2. Results on different machines(A and B) are more inconsistent. In many frames, translation difference is more than 200m.

I don't know the reason for. Is it that I set the parameters wrong? I am looking forward to your reply, thank you again for such an excellent work.

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