help please!!! How to use "LiDAR_IMU_Init" to init my own data?

[WN-Wolf]

I am a beginner, if you by pass, please take a look, many thanks! I want to use FAST_LIO, but first I have to calibrate time. lidar：livox mid-70 IMU：wit JY901B

I followed the readme to operate step by step, But there didn't have any results or error. Here is my operation process. Please help to check which step went wrong! Thanks a lot!

1. start lidar roslaunch livox_ros_driver livox_lidar.launch
2. start imu roslaunch wit_ros_imu wit_imu.launch
3. to verify if data can be recieved rostopic echo /livox/lidar rostopic echo /wit/imu
4. record a rosbag rosbag record -o my_livox_wit.bag /livox/lidar /wit/imu
5. modify livox_wit_test.launch
6. modify wit_test.yaml
7. start lidar_imu_init roslaunch lidar_imu_init livox_wit_test.launch
8. another terminal rosbag play

The points: rviz didn't show anything terminal didn't show any error

The questions: Initialization_result.txt didn't have anything! I don't know how to do, please help me, many thanks!!! @zfc-zfc @Taeyoung96 @UAVlover

[WN-Wolf]

Thanks for your reply! @zfc-zfc I want to make a summary and to help someone like me!

1. Publish data and record packages roslaunch livox_ros_driver livox_lidar_msg.launch # Please note this, only livox_lidar_msg.launch can publish this format[livox_ros_driver/CustomMsg] roslaunch wit_ros_imu wit_imu.launch rosbag record -o my_livox_wit.bag /livox/lidar /wit/imu

2. Init roslaunch lidar_imu_init livox_avia.launch # Please note this, remember to modify imu_topic with lid_topic!!! rosbag play my_livox_wit_2024-07-11-16-07-45.bag
   /home/ubuntu/cchen/catkin_ws/src/LiDAR_IMU_Init/result/Initialization_result.txt # result path