SC-PGO 在 livox horizon上运行失败

[Lenotary]

使用如下参数，运行时候，SC-PGO 输出的 laser_odom_path 数据是错误的。好奇 为什么不直接使用 fast_lio 输出的 里程计数据

<!-- if 1, do mapping 10 Hz, if 2, do mapping 5 Hz. Suggest to use 1, it will adjust frequence automaticlly -->
<param name="mapping_skip_frame" type="int" value="1" />

<!-- remove too closed points -->
<param name="minimum_range" type="double" value="0.5"/>

<param name="mapping_line_resolution" type="double" value="0.4"/> <!-- A-LOAM -->
<param name="mapping_plane_resolution" type="double" value="0.8"/> <!-- A-LOAM -->

<!-- SC-A-LOAM -->
<param name="keyframe_meter_gap" type="double" value="0.5"/>

<!-- Scan Context -->
<param name="sc_dist_thres" type="double" value="0.2"/> <!-- SC-A-LOAM, if want no outliers, use 0.1-0.15 -->
<!-- <param name="sc_max_radius" type="double" value="40.0"/> 20 or 40 for indoor -->
<param name="sc_max_radius" type="double" value="80.0"/> <!-- for outdoor -->

<!-- for MulRan -->
<param name="lidar_type" type="string" value="OS1-64"/>
<remap from="/velodyne_points" to="/cloud_registered"/>

<!-- utils -->
<param name="save_directory" type="string" value="/home/lenotary/work/file/data/"/>  <!-- CHANGE THIS and end with / -->

<!-- nodes -->
<node pkg="aloam_velodyne" type="ascanRegistration" name="ascanRegistration" output="screen" /> <!-- A-LOAM -->
<node pkg="aloam_velodyne" type="alaserOdometry" name="alaserOdometry" output="screen" /> <!-- A-LOAM -->
<node pkg="aloam_velodyne" type="alaserMapping" name="alaserMapping" output="screen" /> <!-- A-LOAM -->
<node pkg="aloam_velodyne" type="alaserPGO" name="alaserPGO" output="screen" /> <!-- SC-A-LOAM -->

<!-- visulaization -->
<arg name="rviz" default="true" />
<group if="$(arg rviz)">
    <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz_close" args="-d $(find aloam_velodyne)/rviz_cfg/aloam_velodyne.rviz" />
</group>

[kxch928925819]

SC-PGO rviz /cloud_registered ！
terminal 1#
roslaunch fast_lio mapping_horizon.launch
terminal 2#
roslaunch aloam_velodyne fastlio_ouster64.launch
terminal 3#
rosbag play youfile.bag

[gisbi-kim]

hi, @Lenotary
as @kxch928925819 commented, please use fastlio_ouster64.launch

BTW,
for the livox-lidar's parameter set-ups, this repository still has slots that need to be improved.
I'll test and update the README in near future regarding the livox lidars.