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vectr-ucla / direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
MIT License
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Pausing and resuming a rosbag cause the odometry to drift away #47

Closed VRichardJP closed 1 month ago

VRichardJP commented 1 month ago

If you play a rosbag, pause it for a few seconds, then resume it, the robot pose will suddenly jump away, as if the robot had been moving during the pause.

Or at least it is the case with the feature/ros2 branch.

VRichardJP commented 1 month ago

Most likely a misconfiguration on my side.