Hi there,

I was trying out your code with the provided data and repeatedly stumbled upon a failed check during ImuPreintegration:
CHECK_GT(dt, 0);
Before the failed check there is a message regarding:

"All imus are before time.... Imu buffer size is 30, and the last imu in buffer has time ..., t0 - imu1.time = 0.0518486, set ibuf to 29"

I could trace it back to ImuQueue::IndexAfter returning ibuf = size()-1 instead of size(), which would be needed in ImuPreintegration::Compute to detect this case.
Setting ibuf = size() in that case would be an easy fix. The same check for ibuf==size() is also used in Trajectory::UpdateBias.
But I saw that ImuQueue::IndexAfter is also used in traj.cpp for Trajectory::PredictNew and Trajectory::PredictFull without a further check.

Hence, I was wondering what would be the appropriate fix for this bug or what should be done in the Predict functions.
If I understood correctly, than it would suffice to use in the predict functions the same check ibuf==size() and returning 0. Is that correct?

Best, Jan

Hi,

I'm trying to build the package, however I get the following build error related to fmt :

../fmt/include/fmt/core.h:1839:77:   required from ‘constexpr fmt::v8::format_arg_store<Context, Args>::format_arg_store(T&& ...) [with T = {const double&, const Eigen::Transpose<const Eigen::Matrix<double, 4, 1, 0, 4, 1> >&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1, 0, 3, 1> >&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1, 0, 3, 1> >&}; Context = fmt::v8::basic_format_context<fmt::v8::appender, char>; Args = {double, Eigen::Transpose<const Eigen::Matrix<double, 4, 1, 0, 4, 1> >, Eigen::Transpose<const Eigen::Matrix<double, 3, 1, 0, 3, 1> >, Eigen::Transpose<const Eigen::Matrix<double, 3, 1, 0, 3, 1> >}]’
../fmt/include/fmt/core.h:3128:17:   required from ‘std::__cxx11::string fmt::v8::format(fmt::v8::format_string<T ...>, T&& ...) [with T = {const double&, const Eigen::Transpose<const Eigen::Matrix<double, 4, 1, 0, 4, 1> >, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1, 0, 3, 1> >, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1, 0, 3, 1> >}; std::__cxx11::string = std::__cxx11::basic_string<char>; fmt::v8::format_string<T ...> = fmt::v8::basic_format_string<char, const double&, const Eigen::Transpose<const Eigen::Matrix<double, 4, 1, 0, 4, 1> >, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1, 0, 3, 1> >, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1, 0, 3, 1> > >]’
../llol/sv/llol/imu.cpp:75:37:   required from here
../fmt/include/fmt/core.h:3128:44:   in constexpr expansion of ‘fmt::v8::make_format_args<>((* & args#0), (* & args#1), (* & args#2), (* & args#3))’
../fmt/include/fmt/core.h:1711:3: error: static assertion failed: Cannot format an argument. To make type T formattable provide a formatter<T> specialization: https://fmt.dev/latest/api.html#udt

I'm running Ubuntu 18.04, with the latest master from fmt built from source. Note that this error happens at a couple of places in imu.cpp, I'm just showing you one for simplicity.

Any help or suggestion is appreciated!

Sorry for asking this simple question. I'm new to this area and after I followed the instructions to run all the nodes, I don't know where to feed the Sample data to the odometry and visualize it.

I used the command

rosbag play raw-perch-loop-2021-09-06-17-22-06.bag

And it begin running

Then the terminal running

roslaunch llol llol.launch

displays

The terminal running

 roslaunch ouster_decoder decoder.launch

displays

The terminal running

roslaunch ouster_decoder driver.launch

displays

And the terminal running rviz displays

But there is no image shown on rviz.

Can you help me with that? Thanks!

The readme mentions

This is the open-source version, some advanced features may be missing.

What are the "advanced features" missing?

The cmakelist file under the SV folder reports an error,can not target_link Eigen3::Eigen,like:Target "sv_node_viz" links to target "Eigen3::Eigen" but the target was not found.

Do you have any solution？

ubantu 16.04