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zhh2005757 / FAST-LIO-Multi-Sensor-Fusion

Fusing GNSS and wheel measurements based on FAST-LIO and IKFOM
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Wheel speed information cannot be fused #3

Open youngsterkim opened 2 weeks ago

youngsterkim commented 2 weeks ago

Hello, may I ask that in the h_share_model function in your laserMapping.cpp file, the ekfom_data.h_x has been redefined many times, will this cause the wheel speed information to be unable to be fused with the lidar information? Is there a mistake here?

zhh2005757 commented 4 days ago

Thanks for your focusing. I set different cases for each ekfom_data.h_x definitions like "opt_with_wheel" or "opt_with_gnss", and each of these cases will end the function after finishing their updates. You can see "return" at the end of each cases. By the way, the gnss and wheel information updates are executed in the UndistortPcl function in IMU_Processing.hpp.