Comments (9)
which launch file? is IMU and lidar synchronized?
from fast_lio.
roslaunch fast_lio mapping_avia.launch
from fast_lio.
dji@dji-MANIFOLD-2-C:~/catkin_ws$ roslaunch fast_lio mapping_avia.launch
... logging to /home/dji/.ros/log/5e1c8074-de1a-11eb-8842-34d26269e60d/roslaunch-dji-MANIFOLD-2-C-9130.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://dji-MANIFOLD-2-C:45925/
SUMMARY
PARAMETERS
- /common/imu_topic: /livox/imu
- /common/lid_topic: /livox/lidar
- /cube_side_length: 1000.0
- /dense_map_enable: True
- /feature_extract_enable: False
- /filter_size_map: 0.5
- /filter_size_surf: 0.5
- /mapping/acc_cov: 0.1
- /mapping/b_acc_cov: 0.0001
- /mapping/b_gyr_cov: 0.0001
- /mapping/det_range: 450.0
- /mapping/extrinsic_R: [1, 0, 0, 0, 1, 0...
- /mapping/extrinsic_T: [0.04165, 0.02326...
- /mapping/fov_degree: 90
- /mapping/gyr_cov: 0.1
- /max_iteration: 3
- /point_filter_num: 3
- /preprocess/blind: 1
- /preprocess/lidar_type: 1
- /preprocess/scan_line: 6
- /rosdistro: melodic
- /rosversion: 1.14.11
- /runtime_pos_log_enable: False
NODES
/
laserMapping (fast_lio/fastlio_mapping)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [9140]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 5e1c8074-de1a-11eb-8842-34d26269e60d
process[rosout-1]: started with pid [9151]
started core service [/rosout]
process[laserMapping-2]: started with pid [9158]
process[rviz-3]: started with pid [9159]
Multi thread started
p_pre->lidar_type 1
[ INFO] [1625549048.718784550]: IMU Initializing: 5.0 %
[ WARN] [1625549048.721875512]: Reset ImuProcess
[ INFO] [1625549048.722061005]: IMU Initials: Gravity: 0.0789 0.5868 -9.7911 0.9914; state.bias_g: 0.0001 0.0001 0.0001; acc covarience: 0.10000000 0.10000000 0.10000000; gry covarience: 0.10000000 0.10000000 0.10000000
FAST-LIO not ready
^C[rviz-3] killing on exit
[laserMapping-2] killing on exit
[ WARN] [1625549063.634023184]: catch sig 2
Rebuild thread terminated normally
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
dji@dji-MANIFOLD-2-C:~/catkin_ws$
from fast_lio.
which bag are you test? or in real avia device?
from fast_lio.
can you see the rviz and point cloud?
from fast_lio.
Yes! Rviz is Ok!
from fast_lio.
ok, if point cloud looks fine, then ignore the output "FAST-LIO not ready", I will fix that right now
from fast_lio.
HAHA~! Tankyou very much! In the afternoon ,I start this over with the desktop,Tommrow ,underground parking test it !
from fast_lio.
It's fixed, please git pull than test again
from fast_lio.
Related Issues (20)
- Gmapping navigation HOT 3
- The fineness of point cloud display in rviz HOT 1
- 里程计输出频率问题? HOT 1
- FAST_LIO uses only one core of the CPU HOT 1
- Is IMU optional? HOT 3
- 话题/Laser_map为空 HOT 3
- Some Clarification in Code HOT 2
- Is livox_ros_driver2 required at all? HOT 3
- process has died exit code 11 HOT 4
- How to get a trajectory format that can be used for evo tool ? HOT 1
- Intitialize in known geographic coordinates HOT 1
- fastlio+livox HOT 2
- make livox driver dependency optional HOT 1
- Memory leak HOT 15
- Process dying exit code 127 HOT 1
- Segmentation fault (due to placeholders warning in boost? HOT 2
- Topic /tf has no timestamp in ROS2 branch HOT 1
- error for rclcpp::AnyServiceCallback
- Inconsistent Z position estimate in outdoor unstructured environments HOT 1
- How does lidar noise work? HOT 1
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