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rsasaki0109 / li_slam_ros2

ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam
BSD 2-Clause "Simplified" License
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Using ouster and Lord 3DM imu in foxy #26

Closed lidarmansiwon closed 11 months ago

lidarmansiwon commented 1 year ago

Hello, I am currently trying to run this package. As shown in the picture below, there is a time difference between imu and ouster. So, in the picture below if (imuQueue.empty() || t_f > timeScanCur || t_b < timeScanNext) Problem occurs in conditional statement. Is there a way to correct this? imu time = 1689176983.31 ouster time = 2946.97

debug

ouster_time

imu_time

rsasaki0109 commented 1 year ago

Since the timestamp of ouster is the time since it was started, it is necessary to deal with this on the ouster driver side.

Change the timestamp_mode below. https://github.com/ouster-lidar/ouster-ros/blob/master/launch/sensor.launch#L22-L27

lidarmansiwon commented 1 year ago

Thank you for your answer. Thanks to you, I timed it equally.But I have a question. Currently, I'm trying to proceed with the slam in real time through the ouster, imu, but it's not working. If you record the data and run it as a bagfile, it will be a slam, but is this package only available as a bag file?

lidarmansiwon commented 1 year ago

I found new information while I was looking for a way. If you change 5 of the function in the picture below to rclcpp::SensorDataQoS() , the pointcloud callback function turns and exchanges data, but the slam does not proceed. If you do ros2 topic echo /cloud_deskewed as evidence, it proceeds at first, and soon, the value stops without ros time flowing. On the other hand, the bag file has a function of 5 so that slam is achieved. Is there anything you know about this situation?

fun 5

rsasaki0109 commented 1 year ago

This package has only been tested with rosbag. (This package was developed as a hobby, and buying sensors for fun is a bit too expensive!)

There were no warnings when you use ros2 topic echo or outputted the terminal in li_slam_ros2? Based on what I hear, this might be a problem related to QoS. https://docs.ros.org/en/humble/Concepts/Intermediate/About-Quality-of-Service-Settings.html

rsasaki0109 commented 11 months ago

This issue has been inactive for a while and will be closed for housekeeping. If it's still relevant, please feel free to reopen it with a new comment. Thank you for your contribution.