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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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Default PointCloud2 messages supported ? #345

Closed Gabryss closed 3 months ago

Gabryss commented 3 months ago

Hello,

I would like to know if default PointCloud2 messages from Gazebo Fortress are supported. My Gazebo simulation is using a 3D LiDAR that create a PointCloud2 message with the fields (x, y, z, intensity and ring).

In the FAST-LIO config file I used on purpose the lidar_type 5 as it trigger the default switch case "default_handler" function. This function seems to use pcl::PointCloud<pcl::PointXYZI> as I need. However after launching the package, nothing happen. I have no error nor cloud map displayed. How could I resolve this ?

I also tried all the other lidar_type but as I have different PointCloud2 message fields it does not work. Thank you very much.

stale[bot] commented 3 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.