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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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li_slam won't start mapping #9

Closed SyahirMuzni closed 1 year ago

SyahirMuzni commented 2 years ago

Hi Mr. Sasaki.

I tried to launch li_slam. But it won't start to create map. Are there any steps that I missed?

PXL_20220929_081748050.jpg

rsasaki0109 commented 2 years ago

How is it on rviz? There is too little information. Does the scanmatcher subscribe to the topic correctly?

If it is a scan matching issue, you can find more information below true. https://github.com/rsasaki0109/li_slam_ros2/blob/develop/scanmatcher/param/lio.yaml#L45

Have you configured imu properly? If not properly, LiDAR Inertial SLAM will not work. https://github.com/rsasaki0109/li_slam_ros2/blob/develop/scanmatcher/param/lio.yaml#L9-L20 I would like to know information about IMU. ・what kind of IMU you are using. (an IMU of about $10 may not work well) ・Frequency(It is better if it is above 200 Hz.) ・tf of LiDAR-IMU ・Noise and bias of IMU If you have not estimated the noise or bias of the IMU, please use the following package to do so. https://github.com/gaowenliang/imu_utils

SyahirMuzni commented 1 year ago

Hi there, Ok, I am currently working on the IMU configuration (noise & bias). For your information, I am using IMU (Xsens MTI-G-710). But how do I get the extrinsic Trans, Rot & RPY?

rsasaki0109 commented 1 year ago

Please refer to the following https://github.com/TixiaoShan/LIO-SAM#prepare-imu-data

Note that li_slam_ros2 runs on 6-axis IMU.

space192 commented 1 year ago

hey @rsasaki0109 would you recommend any 6-axis IMU to use with this project ?

rsasaki0109 commented 1 year ago

This package is based on LIO-SAM's fusion method, so the following and LIO-SAM's issues may be helpful.

We use Microstrain 3DM-GX5-25, which outputs data at 500Hz. We recommend using an IMU that gives at least a 200Hz output rate. https://github.com/TixiaoShan/LIO-SAM#prepare-imu-data

rsasaki0109 commented 1 year ago

There has been no recent activity on this issue, so I am going to close it.