search

hku-mars / Point-LIO

Other
724 stars 115 forks source link

里程计输出延时问题 #76

Open sarallonly opened 5 months ago

sarallonly commented 5 months ago

请问里程计输出延时大约半分钟，这种问题应该怎么解决？ 期待您的回答

sarallonly commented 5 months ago

现在还没有解决呢，之前怀疑是电脑的问题，换了个电脑发现这个问题还是存在

---原始邮件--- 发件人: @.> 发送时间: 2024年3月22日(周五) 中午1:57 收件人: @.>; 抄送: @.**@.>; 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

我也遇到了同样的问题，/aft_mapped_to_init话题相对播放的包有半分钟延迟。需要怎么解决一下呀

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>

Joanna-HE commented 5 months ago

其他话题有延迟吗？

寄件者: sarallonly @.> 寄件日期: 2024年3月22日 下午 02:02 收件者: hku-mars/Point-LIO @.> 副本: Subscribed @.***> 主旨: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

现在还没有解决呢，之前怀疑是电脑的问题，换了个电脑发现这个问题还是存在

---原始邮件--- 发件人: @.> 发送时间: 2024年3月22日(周五) 中午1:57 收件人: @.>; 抄送: @.**@.>; 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

我也遇到了同样的问题，/aft_mapped_to_init话题相对播放的包有半分钟延迟。需要怎么解决一下呀

― Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>

― Reply to this email directly, view it on GitHubhttps://github.com/hku-mars/Point-LIO/issues/76#issuecomment-2014414997, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXWNMXMNUTEPJYFREPTYZPCN3AVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDAMJUGQYTIOJZG4. You are receiving this because you are subscribed to this thread.Message ID: @.***>

sarallonly commented 5 months ago

输出的点云也有延迟

---原始邮件--- 发件人: @.> 发送时间: 2024年3月22日(周五) 下午2:09 收件人: @.>; 抄送: @.**@.>; 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

其他话题有延迟吗？

寄件者: sarallonly @.> 寄件日期: 2024年3月22日 下午 02:02 收件者: hku-mars/Point-LIO @.> 副本: Subscribed @.***> 主旨: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

现在还没有解决呢，之前怀疑是电脑的问题，换了个电脑发现这个问题还是存在

---原始邮件--- 发件人: @.> 发送时间: 2024年3月22日(周五) 中午1:57 收件人: @.>; 抄送: @.**@.>; 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

我也遇到了同样的问题，/aft_mapped_to_init话题相对播放的包有半分钟延迟。需要怎么解决一下呀

― Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>

― Reply to this email directly, view it on GitHub<https://github.com/hku-mars/Point-LIO/issues/76#issuecomment-2014414997&gt;, or unsubscribe<https://github.com/notifications/unsubscribe-auth/ANJUIXWNMXMNUTEPJYFREPTYZPCN3AVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDAMJUGQYTIOJZG4&gt;. You are receiving this because you are subscribed to this thread.Message ID: @.***>

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>

dongjq23 commented 5 months ago

请问里程计输出延时大约半分钟，这种问题应该怎么解决？ 期待您的回答 ros::Publisher pubOdomAftMapped = nh.advertise ("/aft_mapped_to_init", 1000); 我把发布频率从100000改到1000之后，延迟从半分钟，变成了5s左右

Xyxx3353 commented 2 months ago

请问您解决了延迟的问题了吗

INDEX108 commented 1 month ago

请问解决了么 我遇到了同样的问题

Joanna-HE commented 1 month ago

你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢

获取 Outlook for iOShttps://aka.ms/o0ukef

发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.***> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

This is an external email.

请问解决了么 我遇到了同样的问题

― Reply to this email directly, view it on GitHubhttps://github.com/hku-mars/Point-LIO/issues/76#issuecomment-2226055135, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.***>

INDEX108 commented 1 month ago

你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢 获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) This is an external email. 请问解决了么 我遇到了同样的问题 ― Reply to this email directly, view it on GitHub<#76 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.>

请问是改rosrate么 我目前Lidar是hap 10HZ

INDEX108 commented 1 month ago

你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢 获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) This is an external email. 请问解决了么 我遇到了同样的问题 ― Reply to this email directly, view it on GitHub<#76 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.>

我想借助point-lio优越的抗振动特性，但是里程计我只需要10HZ的 目前有明显时间延时

INDEX108 commented 1 month ago

你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢 获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) This is an external email. 请问解决了么 我遇到了同样的问题 ― Reply to this email directly, view it on GitHub<#76 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.>

我发现con_frame打开就可以避免时间延迟，但是里程计会到1HZ。若使用PointCloud2的激光雷达点云可以正常运行，但是使用CustomMsg格式 该情况下程序会死掉 类似bad alloc，vector length这类

Joanna-HE commented 1 month ago

vector length这些问题大概率是和path publisher里面存储了过多的odometry有关的。

获取 Outlook for iOShttps://aka.ms/o0ukef

发件人: INDEX108 @.> 发送时间: Sunday, July 14, 2024 6:27:50 PM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.***> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

This is an external email.

你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢 获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76https://github.com/hku-mars/Point-LIO/issues/76) This is an external email. 请问解决了么 我遇到了同样的问题 D Reply to this email directly, view it on GitHub<#76 (comment)https://github.com/hku-mars/Point-LIO/issues/76#issuecomment-2226055135>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.>

我发现con_frame打开就可以避免时间延迟，但是里程计会到1HZ。若使用PointCloud2的激光雷达点云可以正常运行，但是使用CustomMsg格式 该情况下程序会死掉 类似bad alloc，vector length这类

― Reply to this email directly, view it on GitHubhttps://github.com/hku-mars/Point-LIO/issues/76#issuecomment-2227295020, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXSRIURMF7UJSE3WUCLZMJHCNAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRXGI4TKMBSGA. You are receiving this because you commented.Message ID: @.***>

INDEX108 commented 1 month ago

您好，现在我将原来的一些点降采样了，目前没有明显时延了。但是有个疑问，我看pointlio的cpu占用率好像不高，这是为什么，好像只用了两个cpu线程

---原始邮件--- 发件人: @.> 发送时间: 2024年7月16日(周二) 下午5:57 收件人: @.>; 抄送: @.**@.>; 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

vector length这些问题大概率是和path publisher里面存储了过多的odometry有关的。

获取 Outlook for iOS<https://aka.ms/o0ukef&gt;

发件人: INDEX108 @.> 发送时间: Sunday, July 14, 2024 6:27:50 PM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.***> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

This is an external email.

你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢 获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76<https://github.com/hku-mars/Point-LIO/issues/76&gt;) This is an external email. 请问解决了么 我遇到了同样的问题 D Reply to this email directly, view it on GitHub<#76 (comment)<https://github.com/hku-mars/Point-LIO/issues/76#issuecomment-2226055135&gt;&gt;, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.>

我发现con_frame打开就可以避免时间延迟，但是里程计会到1HZ。若使用PointCloud2的激光雷达点云可以正常运行，但是使用CustomMsg格式 该情况下程序会死掉 类似bad alloc，vector length这类

― Reply to this email directly, view it on GitHub<https://github.com/hku-mars/Point-LIO/issues/76#issuecomment-2227295020&gt;, or unsubscribe<https://github.com/notifications/unsubscribe-auth/ANJUIXSRIURMF7UJSE3WUCLZMJHCNAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRXGI4TKMBSGA&gt;. You are receiving this because you commented.Message ID: @.***>

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: @.***>

Joanna-HE commented 1 month ago

因为point-lio本质上存在一个串行执行流程，所以后续没有继续做过多线程版本开发

获取 Outlook for iOShttps://aka.ms/o0ukef

发件人: INDEX108 @.> 发送时间: Tuesday, July 16, 2024 6:00:32 PM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.***> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

This is an external email.

您好，现在我将原来的一些点降采样了，目前没有明显时延了。但是有个疑问，我看pointlio的cpu占用率好像不高，这是为什么，好像只用了两个cpu线程

---原始邮件--- 发件人: @.> 发送时间: 2024年7月16日(周二) 下午5:57 收件人: @.>; 抄送: @.**@.>; 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

vector length这些问题大概率是和path publisher里面存储了过多的odometry有关的。

获取 Outlook for iOS<https://aka.ms/o0ukef&gt;

发件人: INDEX108 @.> 发送时间: Sunday, July 14, 2024 6:27:50 PM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.***> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76)

This is an external email.

你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢 获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76<https://github.com/hku-mars/Point-LIO/issues/76&gt;) This is an external email. 请问解决了么 我遇到了同样的问题 D Reply to this email directly, view it on GitHub<#76 (comment)<https://github.com/hku-mars/Point-LIO/issues/76#issuecomment-2226055135&gt;&gt;, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.>

我发现con_frame打开就可以避免时间延迟，但是里程计会到1HZ。若使用PointCloud2的激光雷达点云可以正常运行，但是使用CustomMsg格式 该情况下程序会死掉 类似bad alloc，vector length这类

D Reply to this email directly, view it on GitHub<https://github.com/hku-mars/Point-LIO/issues/76#issuecomment-2227295020&gt;, or unsubscribe<https://github.com/notifications/unsubscribe-auth/ANJUIXSRIURMF7UJSE3WUCLZMJHCNAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRXGI4TKMBSGA&gt;. You are receiving this because you commented.Message ID: @.***>

― Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: @.***>

― Reply to this email directly, view it on GitHubhttps://github.com/hku-mars/Point-LIO/issues/76#issuecomment-2230501354, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXUG2WWIDA3A3IZND4DZMTVMBAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMZQGUYDCMZVGQ. You are receiving this because you commented.Message ID: @.***>

INDEX108 commented 1 month ago

因为point-lio本质上存在一个串行执行流程，所以后续没有继续做过多线程版本开发 获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: INDEX108 @.> 发送时间: Tuesday, July 16, 2024 6:00:32 PM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) This is an external email. 您好，现在我将原来的一些点降采样了，目前没有明显时延了。但是有个疑问，我看pointlio的cpu占用率好像不高，这是为什么，好像只用了两个cpu线程 ---原始邮件--- 发件人: @.> 发送时间: 2024年7月16日(周二) 下午5:57 收件人: @.>; 抄送: @*.**@*.>; 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) vector length这些问题大概率是和path publisher里面存储了过多的odometry有关的。 获取 Outlook for iOS<https://aka.ms/o0ukef&gt; ____ 发件人: INDEX108 @.> 发送时间: Sunday, July 14, 2024 6:27:50 PM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) This is an external email. 你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢 获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @. @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76<#76>) This is an external email. 请问解决了么 我遇到了同样的问题 D Reply to this email directly, view it on GitHub<#76 (comment)<#76 (comment)>>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.> 我发现con_frame打开就可以避免时间延迟，但是里程计会到1HZ。若使用PointCloud2的激光雷达点云可以正常运行，但是使用CustomMsg格式 该情况下程序会死掉 类似bad alloc，vector length这类 D Reply to this email directly, view it on GitHub<#76 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/ANJUIXSRIURMF7UJSE3WUCLZMJHCNAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRXGI4TKMBSGA&gt;. You are receiving this because you commented.Message ID: @.> ― Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: @.> ― Reply to this email directly, view it on GitHub<#76 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXUG2WWIDA3A3IZND4DZMTVMBAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMZQGUYDCMZVGQ. You are receiving this because you commented.Message ID: @.***>

如果想要改多线程的话 比较困难嘛？我不太清楚。想请教一下，主要是哪部分需要改并行多线程呢？