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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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delay? #68

Closed gisbi-kim closed 4 years ago

gisbi-kim commented 4 years ago

Hi, very thanks for this amazing job.

I'm suffering some delay issue. I'm using OS1-64 point cloud topics with 10Hz

but when I watched the mapping via rviz,
the mapping seemed cannot follow the 10Hz. (maybe 8-9?)

any similar experiences reported or any tips to boost the speed? and also I'm wondering this issue can be from the point cloud size (e.g., 64rays are too large) or not.

thank you!

gisbi-kim commented 4 years ago

sorry I found the similar issue and so close. https://github.com/hyye/lio-mapping/issues/20