failed to find match for field 'time' when use velodyne-16 about fast_lio HOT 5 CLOSED

the slam system has the above error when running and the map built has wrong transform when the robot itself rotates, nothing wrong when running in straight line

1. is the extrinsic set right (please refer to section 3.3 in readme)？
2. is your velodyne rostopic has each point’s timestamp？

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the slam system has the above error when running and the map built has wrong transform when the robot itself rotates, nothing wrong when running in straight line

1. is the extrinsic set right (please refer to section 3.3 in readme)？
2. is your velodyne rostopic has each point’s timestamp？

Thanks for answering. Extrinsic is correct since I have imu and lidar same frame direction. The topics content from Velodyne has only timstamp info in the header, as for the timestamp of each point, I guess no.

from fast_lio.

the slam system has the above error when running and the map built has wrong transform when the robot itself rotates, nothing wrong when running in straight line

1. is the extrinsic set right (please refer to section 3.3 in readme)？
2. is your velodyne rostopic has each point’s timestamp？

Thanks for answering. Extrinsic is correct since I have imu and lidar same frame direction. The topics content from Velodyne has only timstamp info in the header, as for the timestamp of each point, I guess no.

I recommend using the dataset where each point has its own timestamp. The point cloud 2 rostopic type support it originally.

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Hey @sihanh
Have you already solved this issue?
Could you please share how you tackled this?
Thanks

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You can try using the latest LiDAR driver（my lidar is leishenC32）, I solved the “Failed to find match for field time'' issue this way.

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