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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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Inverted Tracking movement #80

Closed PLAN8VR closed 3 years ago

PLAN8VR commented 3 years ago

Hi,

Thank you for releasing this - I tried the Livox Mapping method and it has a serious memory leak that just freezes the system - this works at full frame rate on my first test.

However, I have an issue (which is probably just down to my lack of experience or knowledge with ROS (first time user) - the live (white) scan points appear to move in an inverted direction - so, if I rotate the scanner (livox mid 40) clockwise, the rviz viewer interprets this as an anticlockwise movement and vice verse. Any ideas?

Also, the movement is not tracked, I just have a fixed initial pointcloud that the new data updates within - it does not build a model based on movement and the livox datum point is fixed ??

Thanks in advance!

PLAN8VR commented 3 years ago

Hi all,

This was just a user error - I was trying my first scans from a table in a small room, I soon discovered that the program needs to see more depth and information to be able to initialise the starting position - I simply moved the sensor to a larger room and placed on the floor which gave it the ability to work out the range of depths to create a good initialisation.