The map is constructed incorrectly.
LouiMilvus opened this issue · 2 comments
imu outputs 400 hertz, OusterOS64 lidar.
Configuration settings:
sensor: ouster # lidar sensor type, either 'velodyne', 'ouster' or 'livox'
N_SCAN: 64 # number of lidar channels (i.e., Velodyne/Ouster: 16, 32, 64, 128, Livox Horizon: 6)
Horizon_SCAN: 1024 # lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048, Livox Horizon: 4000)
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: 3.9939570888238808e-01
imuGyrNoise: 1.5636343949698187e-01
imuAccBiasN: 6.4356659353532566e-03
imuGyrBiasN: 3.5640318696367613e-03
imuGravity: 9.80511
imuRPYWeight: 0.01
extrinsicTrans: [ 0.0, 0.0, 0.0 ]
extrinsicRot: [ 0.0, 1.0, 0.0,
-1.0, 0.0, 0.0,
0.0, 0.0, 1.0 ]
extrinsicRPY: [ 0.0, 1.0, 0.0,
-1.0, 0.0, 0.0,
0.0, 0.0, 1.0 ]
Part of the terminal output:
[lio_sam_imuPreintegration-3] [ERROR] [1697604124.237840049] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1679940531.898065 but the earliest data is at ti
me 1679940531.953213, when looking up transform from frame [base_link] to frame [lio_laser_data_frame]
[lio_sam_imuPreintegration-3] [ERROR] [1697604124.242714477] [lio_sam_imuPreintegration]: Lookup would require extrapolation into the past. Requested time 1679940531.898065 but the earliest data is at ti
me 1679940531.953213, when looking up transform from frame [base_link] to frame [lio_laser_data_frame]
[lio_sam_imuPreintegration-3] [WARN] [1697604125.049085340] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604125.863422819] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604126.236174261] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604127.064230519] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604127.860578113] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604128.245528674] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604129.068931595] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604129.888684117] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604130.662336353] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604131.447464140] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604132.248969047] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604132.646798983] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604133.455351094] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[rviz2-7] [INFO] [1697604133.664406161] [rviz2]: Message Filter dropping message: frame 'lio_laser_data_frame' at time 1679940531.298 for reason 'the timestamp on the message is earlier than all the data
in the transform cache'
[rviz2-7] [INFO] [1697604133.664793542] [rviz2]: Message Filter dropping message: frame 'lio_laser_data_frame' at time 1679940531.398 for reason 'the timestamp on the message is earlier than all the data
in the transform cache'
[lio_sam_imuPreintegration-3] [WARN] [1697604133.848509198] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
[lio_sam_imuPreintegration-3] [WARN] [1697604134.687825062] [lio_sam_imuPreintegration]: Large velocity, reset IMU-preintegration!
photo:
https://ibb.co/848yW55
Hi, did you solve it?
Hi, did you solve it?
Good day! No, this issue still persists. I recorded another ROS2 bag, the IMU sensor is positioned differently (I changed the matrix), yet the map still jumps.