I am a beginner, if you by pass, please give me some advice, many thanks!
lidar:livox mid-70
IMU:wit JY901B
Q1: If I get a LiDAR_IMU_Init result, like this:
I want to know, how to use this result in FAST_LIO? Where to use this result?
Q2: For Livox serials with external IMU
I have modified config/avia.yaml like this.
and then run command, "roslaunch fast_lio mapping_avia.launch".
What about the next? run this command "rosbag play my_record_lidar_imu.bag"?
How to get "my_record_lidar_imu.bag"?
Is it recorded using this command after time synchronization?
"rosbag record -o my_livox_wit.bag /livox/lidar /wit/imu"
How to run fast_lio2
first terminal: roslaunch livox_ros_driver livox_lidar_msg.launch
second terminal: roslaunch wit_ros_imu wit_imu.launch
last terminal: roslaunch fast_lio mapping_avia.launch
pcd file path: /fast_lio2/src/FAST_LIO/PCD, then download pcl_viewer to watch pointclound.
I am a beginner, if you by pass, please give me some advice, many thanks! lidar:livox mid-70 IMU:wit JY901B
Q1: If I get a LiDAR_IMU_Init result, like this: I want to know, how to use this result in FAST_LIO? Where to use this result?![image](https://github.com/hku-mars/FAST_LIO/assets/75304226/498d19d6-da9e-4d98-8070-735337e024b6)
Q2: For Livox serials with external IMU I have modified config/avia.yaml like this.
and then run command, "roslaunch fast_lio mapping_avia.launch".
What about the next? run this command "rosbag play my_record_lidar_imu.bag"?
How to get "my_record_lidar_imu.bag"? Is it recorded using this command after time synchronization? "rosbag record -o my_livox_wit.bag /livox/lidar /wit/imu"