search

hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
2.78k stars 936 forks source link

ros rate question(Why set ros rate to 5000hz ?) #202

Closed PengKunPROO closed 1 year ago

PengKunPROO commented 1 year ago

Hi,I found that you set the ros rate to 5000HZ,but the lidar publish frequency is 10hz.There is a huge offset between the program process time and lidar publish time. Is that means the program needs compute out the 'perfect' state in 1/5000 secs？And what 'while' loop do from now on to the next lidar frame arriving time. Hope u could get my point and waiting for your reply!Thanks!

stale[bot] commented 1 year ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.