hku-mars/Point-LIO

里程计输出延时问题

sarallonly opened this issue · 14 comments

sarallonly commented

请问里程计输出延时大约半分钟，这种问题应该怎么解决？
期待您的回答

sarallonly commented
Joanna-HE commented
sarallonly commented
dongjq23 commented

请问里程计输出延时大约半分钟，这种问题应该怎么解决？ 期待您的回答
ros::Publisher pubOdomAftMapped = nh.advertise<nav_msgs::Odometry>
("/aft_mapped_to_init", 1000);
我把发布频率从100000改到1000之后，延迟从半分钟，变成了5s左右

Xyxx3353 commented

请问您解决了延迟的问题了吗

INDEX108 commented

请问解决了么 我遇到了同样的问题

Joanna-HE commented
INDEX108 commented

你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢 获取 Outlook for iOShttps://aka.ms/o0ukef
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________________________________ 发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @.*** @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) This is an external email. 请问解决了么 我遇到了同样的问题 ― Reply to this email directly, view it on GitHub<#76 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.***>

请问是改rosrate么 我目前Lidar是hap 10HZ

INDEX108 commented

你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢 获取 Outlook for iOShttps://aka.ms/o0ukef
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________________________________ 发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @.*** @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) This is an external email. 请问解决了么 我遇到了同样的问题 ― Reply to this email directly, view it on GitHub<#76 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.***>

我想借助point-lio优越的抗振动特性，但是里程计我只需要10HZ的 目前有明显时间延时

INDEX108 commented

你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢 获取 Outlook for iOShttps://aka.ms/o0ukef
…
________________________________ 发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @.*** @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) This is an external email. 请问解决了么 我遇到了同样的问题 ― Reply to this email directly, view it on GitHub<#76 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.***>

我发现con_frame打开就可以避免时间延迟，但是里程计会到1HZ。若使用PointCloud2的激光雷达点云可以正常运行，但是使用CustomMsg格式 该情况下程序会死掉 类似bad alloc，vector length这类

Joanna-HE commented
INDEX108 commented
Joanna-HE commented
INDEX108 commented

因为point-lio本质上存在一个串行执行流程，所以后续没有继续做过多线程版本开发 获取 Outlook for iOShttps://aka.ms/o0ukef
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________________________________ 发件人: INDEX108 @.> 发送时间: Tuesday, July 16, 2024 6:00:32 PM 收件人: hku-mars/Point-LIO @.> 抄送: @.*** @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) This is an external email. 您好，现在我将原来的一些点降采样了，目前没有明显时延了。但是有个疑问，我看pointlio的cpu占用率好像不高，这是为什么，好像只用了两个cpu线程
---原始邮件--- 发件人: @.> 发送时间: 2024年7月16日(周二) 下午5:57 收件人: @.>; 抄送: @.@.>; 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) vector length这些问题大概率是和path publisher里面存储了过多的odometry有关的。 获取 Outlook for iOS<https://aka.ms/o0ukef>
________________________________ 发件人: INDEX108 @.> 发送时间: Sunday, July 14, 2024 6:27:50 PM 收件人: hku-mars/Point-LIO @.> 抄送: @.*** @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76) This is an external email. 你好～如果是高频（4khz）的里程计输出延迟问题可能是由于ros：：spin是一帧雷达进行一次的。如果需要高频非延迟里程计输出，可以修改代码的ros：：spin，试试看呢 获取 Outlook for iOShttps://aka.ms/o0ukef …
________________________________ 发件人: INDEX108 @.> 发送时间: Saturday, July 13, 2024 1:38:44 AM 收件人: hku-mars/Point-LIO @.> 抄送: @.*** @.>; Comment @.> 主题: Re: [hku-mars/Point-LIO] 里程计输出延时问题 (Issue #76<#76>) This is an external email. 请问解决了么 我遇到了同样的问题 D Reply to this email directly, view it on GitHub<#76 (comment)<#76 (comment)>>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXXUSGNDAR4YLYGGCATZMAICJAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRWGA2TKMJTGU. You are receiving this because you commented.Message ID: @.> 我发现con_frame打开就可以避免时间延迟，但是里程计会到1HZ。若使用PointCloud2的激光雷达点云可以正常运行，但是使用CustomMsg格式 该情况下程序会死掉 类似bad alloc，vector length这类 D Reply to this email directly, view it on GitHub<#76 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/ANJUIXSRIURMF7UJSE3WUCLZMJHCNAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMRXGI4TKMBSGA>. You are receiving this because you commented.Message ID: @.> ― Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: @.> ― Reply to this email directly, view it on GitHub<#76 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXUG2WWIDA3A3IZND4DZMTVMBAVCNFSM6AAAAABFAQAERSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMZQGUYDCMZVGQ. You are receiving this because you commented.Message ID: @.>

如果想要改多线程的话 比较困难嘛？我不太清楚。想请教一下，主要是哪部分需要改并行多线程呢？