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hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
https://sites.google.com/view/lio-mapping
GNU General Public License v3.0
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Robot test #53

Closed njauwangkai closed 4 years ago

njauwangkai commented 4 years ago

Hi i have some questions and would like to ask you，I run lio-map with a handheld device and it works.But I installed the device on a crawler robot and it didn't work.I would like to inquire what initial driving you did when you installed the laser and inertial navigation on the golf cart.When the esrltimate_extrinsic parameter is 1, the external parameters are basically accurate. Do I need to turn when starting? thank you

hyye commented 4 years ago

Hi @njauwangkai, for some planar motion tests, the initialization process can be different. If you want to use this release of code, it is suggested to make a turn at the beginning to initialize the system. It is also possible to modify the initialization part to a static version.

njauwangkai commented 4 years ago

thank you very much ! would you like tell me more detail about satatic version? whether esrltimate_extrinsic parameter is 0? or the information from the VINS-mono?