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hku-mars / loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
GNU General Public License v2.0
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Whether can make only one of the mid-100 work #26

Closed musicshmily closed 4 years ago

musicshmily commented 4 years ago

How change your code so that can make only one of the mid-100 work( Mid-100 is made up of three mid-40s )

ziv-lin commented 4 years ago

Yes, Mid-100 is made up of three independent units of Mid-40 and you can launch our algorithm by using one of them. Plus, I am ongoing the work of adopting our algorithm to Mid-100, and now I am sampling the data using this LiDAR. A relate solution will be released recently (roughly in 10 days), thank you for your waiting~. robot_platfrom

musicshmily commented 4 years ago

but when i carry out in my mid-100 by the way you said(
roslaunch loam_livox livox.launch roslaunch livox_ros_driver livox_lidar.launch ) ,it does't work,phenomenon as follow:

  1. first: image

it's result: image

2.second image

it's result: image

the first result is disappear,and after execute the two row code( roslaunch loam_livox livox.launch roslaunch livox_ros_driver livox_lidar.launch ),the result just like open the lidar drivers

Did i do something wrong?

musicshmily commented 4 years ago

the second row code,for just make one of mid-100 work,so i use the code as follows to replace: roslaunch livox_ros_driver livox_lidar_rviz.launch bd_list:="1LVDG1S00660271"

musicshmily commented 4 years ago

the command windows show as follows: image

ziv-lin commented 4 years ago

It seems that there has some errors in Ceres-Solver, have you install SuiteSparse and CXSparse on your computer (these two libs are required for building ceres-solver). I suggest you reinstall your Ceres-Solver (full version) by following instructions here: http://ceres-solver.org/installation.html If the issue still exists, there might be some other reason cause the problem.

musicshmily commented 4 years ago

It seems that there has some errors in Ceres-Solver, have you install SuiteSparse and CXSparse on your computer (these two libs are required for building ceres-solver). I suggest you reinstall your Ceres-Solver (full version) by following instructions here: http://ceres-solver.org/installation.html If the issue still exists, there might be some other reason cause the problem.

Thank you for your advice, I will try as you said tomorrow

ziv-lin commented 4 years ago

I have made my algorithm capable work with Mid-100 and this version will be released recently. One of the results is shown as following: mid_100_5

ziv-lin commented 4 years ago

I believe this topic is related to issue #10 , to avoid discussion the same thing among different topics, I close this issue anyway.

musicshmily commented 4 years ago

Wow ,Exciting news! I am keeping an eye on your outstanding work.