Run in NCLT Dataset
PigletPh opened this issue · 3 comments
Hi, I tried to use LIO-SAM running on the NCLT Dataset, and my configure.yaw is followed by:
lio_sam:
Topics
pointCloudTopic: "/points_raw" # Point cloud data
imuTopic: "/imu_raw" # IMU data
odomTopic: "odometry/imu" # IMU pre-preintegration odometry, same frequency as IMU
gpsTopic: "odometry/gpsz" # GPS odometry topic from navsat, see module_navsat.launch file
Frames
lidarFrame: "base_link"
baselinkFrame: "base_link"
odometryFrame: "odom"
mapFrame: "map"
GPS Settings
useImuHeadingInitialization: false # if using GPS data, set to "true"
useGpsElevation: false # if GPS elevation is bad, set to "false"
gpsCovThreshold: 2.0 # m^2, threshold for using GPS data
poseCovThreshold: 25.0 # m^2, threshold for using GPS data
Export settings
savePCD: false # #3
savePCDDirectory: "/home/user/Desktop/scliosam/data/" # use global path, and end with "/"
# warning: if you have already data in the above savePCDDirectory, it will all remove and remake them. Thus, backup is recommended if pre-made data exist.
Sensor Settings
sensor: velodyne # lidar sensor type, either 'velodyne' or 'ouster'
N_SCAN: 32 # number of lidar channel (i.e., 16, 32, 64, 128)
Horizon_SCAN: 1800 # lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048)
downsampleRate: 1 # default: 1. Downsample your data if too many points. i.e., 16 = 64 / 4, 16 = 16 / 1
lidarMinRange: 1.0 # default: 1.0, minimum lidar range to be used
lidarMaxRange: 1000.0 # default: 1000.0, maximum lidar range to be used
IMU Settings
imuAccNoise: 0.1
imuGyrNoise: 0.1
imuAccBiasN: 0.0001
imuGyrBiasN: 0.0001
imuGravity: 9.80416
imuRPYWeight: 0.01
Extrinsics (lidar -> IMU, of NCLT dataset)
extrinsicTrans: [0.112, 0.176, -0.247]
extrinsicRot: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]
extrinsicRPY: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]
When I run roslaunch lio_sam run.launch, there is no display in RVIZ. How to solve it? Thanks!
have you solved this problem , i met the same problem
i met the same problem , i find it cause by timestamp of imu. do you have solved it ?
in the readMe, it said "In Rviz, uncheck "Map (cloud)" and check "Map (global)". Also check "Odom GPS", which visualizes the GPS odometry. " it's maybe for that.