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yanliang-wang / FAST_LIO_LC

The tight integration of FAST-LIO with Radius-Search-based loop closure module.
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Warning Leaf size is reported #19

Open AmirulJ97 opened 1 year ago

AmirulJ97 commented 1 year ago

Dear author,

Thank you very much for your excellent work.

I would like to try FAST_LIO_LC package on my own dataset. However, when I run the roslaunch files, there is a warning data as follows:

  1. roslaunch fast_lio mapping_velodyne.launch - [ WARN] [1688364865.349349613]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1681803983.050032 according to authority unknown_publisher.
  2. roslaunch aloam_velodyne fastlio_velodyne_VLP_16.launch - [pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.

How can I solve this problem?

PigletPh commented 9 months ago

@AmirulJ97 I have met the same problem as you,have you solved them?

52SuyuZ commented 6 months ago

I fixed this problem by changing the mapviz_filter_size value of the fastlio_velodyne_VLP_16.launch file in the PGO folder to 0.4.