kxch928925819 commented 3 years ago


[ INFO] [1625547852.411847770]: IMU Initializing: 5.0 %
[ WARN] [1625547852.415338028]: Reset ImuProcess
[ INFO] [1625547852.415483487]: IMU Initials: Gravity: 0.5451 0.0623 -9.7936 0.9901; state.bias_g: 0.0001 0.0001 0.0001; acc covarience: 0.10000000 0.10000000 0.10000000; gry covarience: 0.10000000 0.10000000 0.10000000
FAST-LIO not ready

IMU Initializing: 5.0 %?
FAST-LIO not ready

XW-HKU commented 3 years ago

which launch file? is IMU and lidar synchronized?

kxch928925819 commented 3 years ago

roslaunch fast_lio mapping_avia.launch

kxch928925819 commented 3 years ago

dji@dji-MANIFOLD-2-C:~/catkin_ws$ roslaunch fast_lio mapping_avia.launch ... logging to /home/dji/.ros/log/5e1c8074-de1a-11eb-8842-34d26269e60d/roslaunch-dji-MANIFOLD-2-C-9130.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dji-MANIFOLD-2-C:45925/

SUMMARY

PARAMETERS

/common/imu_topic: /livox/imu
/common/lid_topic: /livox/lidar
/cube_side_length: 1000.0
/dense_map_enable: True
/feature_extract_enable: False
/filter_size_map: 0.5
/filter_size_surf: 0.5
/mapping/acc_cov: 0.1
/mapping/b_acc_cov: 0.0001
/mapping/b_gyr_cov: 0.0001
/mapping/det_range: 450.0
/mapping/extrinsic_R: [1, 0, 0, 0, 1, 0...
/mapping/extrinsic_T: [0.04165, 0.02326...
/mapping/fov_degree: 90
/mapping/gyr_cov: 0.1
/max_iteration: 3
/point_filter_num: 3
/preprocess/blind: 1
/preprocess/lidar_type: 1
/preprocess/scan_line: 6
/rosdistro: melodic
/rosversion: 1.14.11
/runtime_pos_log_enable: False

NODES / laserMapping (fast_lio/fastlio_mapping) rviz (rviz/rviz)

auto-starting new master process[master]: started with pid [9140] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5e1c8074-de1a-11eb-8842-34d26269e60d process[rosout-1]: started with pid [9151] started core service [/rosout] process[laserMapping-2]: started with pid [9158] process[rviz-3]: started with pid [9159] Multi thread started p_pre->lidar_type 1


[ INFO] [1625549048.718784550]: IMU Initializing: 5.0 %
[ WARN] [1625549048.721875512]: Reset ImuProcess
[ INFO] [1625549048.722061005]: IMU Initials: Gravity: 0.0789 0.5868 -9.7911 0.9914; state.bias_g: 0.0001 0.0001 0.0001; acc covarience: 0.10000000 0.10000000 0.10000000; gry covarience: 0.10000000 0.10000000 0.10000000
FAST-LIO not ready
^C[rviz-3] killing on exit
[laserMapping-2] killing on exit
[ WARN] [1625549063.634023184]: catch sig 2
Rebuild thread terminated normally
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
dji@dji-MANIFOLD-2-C:~/catkin_ws$

XW-HKU commented 3 years ago

which bag are you test? or in real avia device?

XW-HKU commented 3 years ago

can you see the rviz and point cloud?

kxch928925819 commented 3 years ago

Yes! Rviz is Ok!

XW-HKU commented 3 years ago

ok, if point cloud looks fine, then ignore the output "FAST-LIO not ready", I will fix that right now

kxch928925819 commented 3 years ago

HAHA~! Tankyou very much! In the afternoon ,I start this over with the desktop,Tommrow ,underground parking test it !

XW-HKU commented 3 years ago

It's fixed, please git pull than test again

hku-mars / FAST_LIO

[ INFO] [1625547852.411847770]: IMU Initializing: 5.0 % #26

SUMMARY