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rsasaki0109 / li_slam_ros2

ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam
BSD 2-Clause "Simplified" License
279 stars 40 forks source link

Run bag met error gtsam::IndeterminantLinearSystemException #23

Closed j953302 closed 1 year ago

j953302 commented 1 year ago

Hello, I want to run li_slam with a V16s velodyne lidar and a 9 axis imu. I never change any default parameters in lio.yaml.

My data is a indoor corridor loop. However, when li_slam run just a little time it occur below problem: 2023-06-19 13-43-08 的螢幕擷圖

And this is my bag file. https://drive.google.com/drive/folders/1Ov5nnFHmqO3qDI_GLPtWwOS9HZtOQiP0?usp=sharing

Could you help me figure it out? Thank you.

rsasaki0109 commented 1 year ago

I might be too busy this month to look at the rosbag. Could you please post a video of rviz or something similar?

You might find the link below helpful: https://github.com/TixiaoShan/LIO-SAM#prepare-imu-data

j953302 commented 1 year ago

Sure. Let me show you by video. And I consider that my imu and lidar translate matrix is correct because it was successed in the same car with different data.

video: https://drive.google.com/file/d/1-0oPejqpnhQVnMYpQvCUqOZNlUn4pwty/view?usp=sharing

rsasaki0109 commented 1 year ago

@j953302 I would also like to be provided with a yaml file and launch file.

memo https://github.com/TixiaoShan/LIO-SAM/issues/165 https://github.com/TixiaoShan/LIO-SAM/issues/167

rsasaki0109 commented 1 year ago

There may be a problem with imu timestamps.

Helpful comments

I had this problem too. In my case the reason was that some imu messages were sent with the same timestamp.

https://github.com/TixiaoShan/LIO-SAM/issues/165#issuecomment-1000247782

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j953302 commented 1 year ago

@rsasaki0109 Wow, it's really hepful. It fixed my first bug huuuuu... Thank you.

zhao-zhibo commented 6 months ago

My problem was solved. It was a problem with the Eigen version. Changing the expression solved the problem.I asked a question on stackoverflow and someone else answered me.stackoverflow. But I don't understand why this can solve the problem. And I don’t understand why this problem occurs?

szydgithub commented 2 months ago

My problem was solved. It was a problem with the Eigen version. Changing the expression solved the problem.I asked a question on stackoverflow and someone else answered me.stackoverflow. But I don't understand why this can solve the problem. And I don’t understand why this problem occurs?

可以具体说一下是如何解决的吗？谢谢