SLAM - Lidar stability while spinning

unitreerobotics / unilidar_sdk

SDK for Unitree L1 LiDAR

BSD 3-Clause "New" or "Revised" License

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SLAM - Lidar stability while spinning #7

Open Seroka88 opened 9 months ago

Seroka88 commented 9 months ago

Hey,

i ported some great SLAM frameworks like FAST-LIO2 and PV-LIO to run with your lidar. Your bag file is looking very good.

My question is, in your example you are walking around an office. Did you mount the lidar to any heavy device or structure?

My unilidar is spinning like crazy while just holding it in my hand and walking around. The IMU is getting some crazy measurements while walking around.

Do you have any tips / advice for stability?

Kind regards Seroka

Seroka88 commented 9 months ago

unitree-handheld

lingbomeng commented 9 months ago

Hi,

You'd better mount this lidar on something heavier considering its vibration. In our case, we mount it on a cart and push it around the house.

Best wishes

jasonwjw commented 8 months ago

Hi, Seroka

I am new to ROS and slam, I tried to port the FAST-LIO2 to run with this UniTree 4D L1 lidar on NVIDIA Jetson Orin Nano. I followed their official procedure and tried to compile the FAST-LIO2. But they need the livox_ros_driver and I doubted whether it was necessary for Unitree 4D L1 lidar. Could you please give me some guidance?

Many thanks Jason