Lidar rotation isn't working

hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

GNU General Public License v2.0

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Lidar rotation isn't working #338

Closed er1c-cartman closed 2 months ago

er1c-cartman commented 4 months ago

Hi,

I have been using your excellent work, but unfortunately, I am encountering a serious issue.

To use fast_lio in my robot, I have rotated the LiDAR 180 degrees on the x-axis. However, the map appears upside down; the LiDAR point cloud is pointing at the ceiling instead of the floor.

I have modified the URDF to apply the rotation on the x-axis, but it hasn't resolved the issue.

How can I fix this error?

er1c-cartman commented 4 months ago

For better understanding, I'm uploading more images

And i have made a turn on xacro

IacopomC commented 3 months ago

I think this issue may help you #284 althought it doesn't fully solves the problem

stale[bot] commented 2 months 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.