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hku-mars / r3live

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
GNU General Public License v2.0
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LiDAR incoming frame too old, need to be drop!!! #169

Closed sreejithsreeni closed 1 year ago

sreejithsreeni commented 1 year ago

I have an issue with Hesai Lidar and D435i, r3live mapping. When I launch the mapping file I got the following error. not ready for odometry LiDAR incoming frame too old, need to be drop!!!

Please assist to solve the issue/

ziv-lin commented 1 year ago

Your problem might be caused mainly by the misalignment of the timestamp.

Since the LiDAR data and IMU data published by the official Livox-ros-driver is with the timestamp of LiDAR (started from 0 in each recording), and the timestamp of the image is usually recorded with the timestamp of the operation system. To make them working under the same time-based, we modified the source code of Livox-ros-driver, which is available at here. We suggest you replace the official driver with it when sampling your own data for R3LIVE.

Livox-ros-driver for R2/R3LIVE

farhad-dalirani commented 1 year ago

Also, I got this error, my problem was the use of loop in rosbab play.

sreejithsreeni commented 1 year ago

Your problem might be caused mainly by the misalignment of the timestamp.

Since the LiDAR data and IMU data published by the official Livox-ros-driver is with the timestamp of LiDAR (started from 0 in each recording), and the timestamp of the image is usually recorded with the timestamp of the operation system. To make them working under the same time-based, we modified the source code of Livox-ros-driver, which is available at here. We suggest you replace the official driver with it when sampling your own data for R3LIVE.

Livox-ros-driver for R2/R3LIVE

Yes, you were right, when I changed the timestamp to 'realtime' in Hesai driver file this error gone. Thank you for your help, appreciate it.