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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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ScanRegistration keeps crashing. #34

Closed griz1112 closed 4 years ago

griz1112 commented 4 years ago

While driving the robot around if I yaw too quickly ScanRegistration crashes with exit code -11. Sometimes it happens while just driving straight ahead. Is there a way to turn off loop closure ?

ziv-lin commented 4 years ago

We will ease this case in the next update, which will be updated together with the support of "Livox mid-100".

ziv-lin commented 4 years ago

The latest version has fix some bugs in feature extraction, can you update your code and have a try?

griz1112 commented 4 years ago

I will test in the next couple of days. One thing I found that caused the crashes was objects being too close to the laser. Say you get too close to a wall and do a turn of 90 deg or so. I think its because it has nothing to work with for a long enough time period that it crashes.