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.