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hku-mars / r2live

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping package
GNU General Public License v2.0
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What is the unit of acceleration in the IMU topic? #36

Closed nerius59 closed 3 years ago

nerius59 commented 3 years ago

What is the unit of linear acceleration in the IMU topic?

In livox _ros _driver, the unit of acceleration in the IMU topic is [g] by default. (https://github.com/Livox-SDK/livox_ros_driver/issues/63) But in your sample bag file(harbor.bag), the unit of acceleration in your IMU topic(/livox/imu) looks like [m/s^2] for me.

Best regards,

ziv-lin commented 3 years ago

I have forgotten one of the most important things is that I have modified the livox_ros_driver for data sampling. Firstly, I have multiplied the amplitude of gravity when publishing the IMU topic. Secondly, I modified the timestamp of LiDAR topic from LiDAR time base to system time base. I will soon opensource my modified livox_ros_driver and add some instructions in my readme.

ziv-lin commented 3 years ago

I have released my modified livox_ros_driver just now, can you have a try this one to see if it OK? If everything is OK, I will modify the readme of this repo. https://github.com/ziv-lin/livox_ros_driver_for_R2LIVE image

aditdoshi333 commented 3 years ago

Hey @ziv-lin ,

I tried the modified livox_ros_driver but I am not able to find the package even after soucing setup.bash and setup.sh

rahulsharma11 commented 3 years ago

Hi @ziv-lin , The new driver you shared does not contains CMakeList.txt. I used older CMakeList.txt and built successfully. Also able to see the livox_ros_driver node. Just need to check with raw data of livox.

You can confirm if that is the solution.

ziv-lin commented 3 years ago

Thank you for your reply and I have found the problem, the CMakeList.txt is ignored by the git when I added them to my repo. I will fix this problem and later add some instructions to the project page of R2LIVE.

stale[bot] commented 3 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.