Uses up all the memory about livox_horizon_loam HOT 7 OPEN

If you use rviz for visualization, it will store all points to display the global map, which may cause memory consumption.

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@griz1112 @PanZhichen Hi! I met the same problem, my mem is 16g, I can hardly play a 18 mins data.Do you have a better way to solve this problem?

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@griz1112 @PanZhichen Hi! I met the same problem, my mem is 16g, I can hardly play a 18 mins data.Do you have a better way to solve this problem?

I don't use the mapping node just the node that creates the pointcloud. Combine that with the output from a zed camera into rtabmap_ros for mapping and the pointcloud from the livox for ros cost maps. Rtabmap uses camera input only for loop closure. The pointcloud node I use is from loam-livox. It keeps everything in memory unlike rtabmap which uses a disk based database to store loop closure info so it doesn't eat up all the memory.

from livox_horizon_loam.

@griz1112 @PanZhichen Hi! I met the same problem, my mem is 16g, I can hardly play a 18 mins data.Do you have a better way to solve this problem?

I don't use the mapping node just the node that creates the pointcloud. Combine that with the output from a zed camera into rtabmap_ros for mapping and the pointcloud from the livox for ros cost maps. Rtabmap uses camera input only for loop closure. The pointcloud node I use is from loam-livox. It keeps everything in memory unlike rtabmap which uses a disk based database to store loop closure info so it doesn't eat up all the memory.

Hi! Thanks for your great idea.
Can you provide some reference materials for your code, I am a new students in slam, just don't how to achieve in code.

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@griz1112 @PanZhichen Hi! I met the same problem, my mem is 16g, I can hardly play a 18 mins data.Do you have a better way to solve this problem?

I don't use the mapping node just the node that creates the pointcloud. Combine that with the output from a zed camera into rtabmap_ros for mapping and the pointcloud from the livox for ros cost maps. Rtabmap uses camera input only for loop closure. The pointcloud node I use is from loam-livox. It keeps everything in memory unlike rtabmap which uses a disk based database to store loop closure info so it doesn't eat up all the memory.

Hi! Thanks for your great idea.
Can you provide some reference materials for your code, I am a new students in slam, just don't how to achieve in code.

You need to grab this package https://github.com/hku-mars/loam_livox/tree/master/ Then edit livox.launch in the launch dir. Remove or comment out this line loam_livox" type="livox_laserMapping" name="livox_laserMapping" output="screen. That stops it from mapping and just gives you the pointcloud. Use that file to launch the package and you will get the pointcloud on the /livox/lidar topic

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Thanks for your sharing!

@griz1112 @PanZhichen Hi! I met the same problem, my mem is 16g, I can hardly play a 18 mins data.Do you have a better way to solve this problem?

I don't use the mapping node just the node that creates the pointcloud. Combine that with the output from a zed camera into rtabmap_ros for mapping and the pointcloud from the livox for ros cost maps. Rtabmap uses camera input only for loop closure. The pointcloud node I use is from loam-livox. It keeps everything in memory unlike rtabmap which uses a disk based database to store loop closure info so it doesn't eat up all the memory.

Hi! Thanks for your great idea.
Can you provide some reference materials for your code, I am a new students in slam, just don't how to achieve in code.

You need to grab this package https://github.com/hku-mars/loam_livox/tree/master/ Then edit livox.launch in the launch dir. Remove or comment out this line loam_livox" type="livox_laserMapping" name="livox_laserMapping" output="screen. That stops it from mapping and just gives you the pointcloud. Use that file to launch the package and you will get the pointcloud on the /livox/lidar topic

Thanks for your sharing!

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Its not my code.

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