Experiencing large drift while mapping with livox avia

[aditdoshi333]

Hello,

Thanks for sharing such amazing work. I am experiencing large drift when I am running demo.launch on live stream. I have changed the calibration params in config file.

For livox, I am using the following driver (https://github.com/ziv-lin/livox_ros_driver_for_R2LIVE)

The following is the set of errors I am gettting: /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 400, dt = 0.105697 /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!! 5.55778 -9.90081 -10.1357 /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!! 5.55778 -9.90081 -10.1357 /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!! 5.55778 -9.90081 -10.1357 /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!! 5.55778 -9.90081 -10.1357 /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!! 5.55778 -9.90081 -10.1357 /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!! 5.55778 -9.90081 -10.1357 /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!! 5.55778 -9.90081 -10.1357 /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!! 5.55778 -9.90081 -10.1357 /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!! 5.55778 -9.90081 -10.1357 /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!! 5.55778 -9.90081 -10.1357 state_inout |[673.69852] | (-12.992, -47.860, 54.054) | (18.039, -1.217, -9.484) | (5.558, -9.901, 0.000) | (-0.150, -1.614, 0.984) | (-1.413, 3.676, -6.752) state_in |[673.69852] | (-12.992, -47.860, 54.054) | (18.039, -1.217, -9.484) | (5.558, -9.901, -10.136) | (-0.150, -1.614, 0.984) | (-1.413, 3.676, -6.752) /opt/catkin_ws/src/r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!! 5.31588 -10.1107 -0.17032

Everytime after the following error I am getting large drift. [ INFO] [1632737692.276809736]: big translation [ WARN] [1632737692.277026159]: failure detection! [ WARN] [1632737692.281113827]: system reboot!

[stale[bot]]

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.

[Camilochiang]

Hei @aditdoshi333 . I read in R3live that you manage to run R2live. Could you explain me how did you do the Camera to IMU calibration? Just curious as Im having large drifts from the start of my bag (#40 ) I just may mention that this have happens when setting <param name="if_lidar_start_first" type="int" value="1" /> in the launch file. I have still no tried in the other way, but just curious if you have encounter similar problems ? :) Thanks for your help!

[aditdoshi333]

Hello @Camilochiang ,

I did calibration using https://github.com/hku-mars/livox_camera_calib

[Camilochiang]

Thanks @aditdoshi333 ! I did using kalibr. I just may mention that the large drift in my case was due a wrong unit in the acceleration (g instead of ms-2)

[Camilochiang]

Hei @aditdoshi333 Question. The link that you post does the calibration between the camera and the LIDAR but they use the calibration of the camera and the IMU. Isn't that a problem ? In my case kalibr does not support the required distortion model (Brown-Conrady Model) so now I'm not sure which tool use...

Greetings

[stale[bot]]

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.

[ly-uuu]

Have you solved the problem yet?