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robot-pesg / BotanicGarden

BotanicGarden: A high-quality dataset for robot navigation in unstructured natural environments
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1018_00数据velodyne雷达跑飞，avia雷达正常 #4

Open JaySlamer opened 7 months ago

JaySlamer commented 7 months ago

启动后要等较久rviz才出现点云，而且一出现就是飞的。 image

包名为1018_00_img10hz600p.bag

JaySlamer commented 7 months ago

又下了1080_13,还是同样的问题。

robot-pesg commented 1 month ago

@JaySlamer

Hi, what LIO project are you testing? The Xsens imu was keeping running so, might be much earlier than other sensor streams. You can skip some seconds.

In LIO-SAM and LVI-SAM, we have tested VLP-16 with Xsens IMU, and they work fine. The IMU data within AVIA has a gravity scale of 1, so if you use it with VLP-16, you must multiply the acceleration scale to 9.81, otherwise they can not work properly. In some LIO projects that have adapted AVIA LiDAR, they already fix this. Good luck.