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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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Failed in marsim simulation #347

Closed Yangrlan closed 2 months ago

Yangrlan commented 3 months ago

Hi authors: The fast-lio2 drifts when the drone begins to move in the marsim simulator. The planner I used is ego-planner and the trajectory is not aggressive. I changed to use mid360 but it still drifts. It puzzles me for a long time as I have tried before the fast-lio2 supports the simulator. And may you give me some suggestions?

ngocquynhle commented 2 months ago

Hi @Yangrlan Have you solved this problem yet?

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.

Yangrlan commented 1 month ago

I found the problem today. Maybe in the current simulator, the topic of the pointcloud that fast-lio should use is "/robot_0/velodyne_points" but not the "/quad0_pcl_render_node/cloud". Because the frame of the previous one is body frame and the latter one is world frame.