li_slam won't start mapping
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Hi Mr. Sasaki.
I tried to launch li_slam. But it won't start to create map. Are there any steps that I missed?
How is it on rviz?
There is too little information. Does the scanmatcher subscribe to the topic correctly?
If it is a scan matching issue, you can find more information below true.
https://github.com/rsasaki0109/li_slam_ros2/blob/develop/scanmatcher/param/lio.yaml#L45
Have you configured imu properly? If not properly, LiDAR Inertial SLAM will not work.
https://github.com/rsasaki0109/li_slam_ros2/blob/develop/scanmatcher/param/lio.yaml#L9-L20
I would like to know information about IMU.
・what kind of IMU you are using.
(an IMU of about $10 may not work well)
・Frequency(It is better if it is above 200 Hz.)
・tf of LiDAR-IMU
・Noise and bias of IMU
If you have not estimated the noise or bias of the IMU, please use the following package to do so.
https://github.com/gaowenliang/imu_utils
Hi there,
Ok, I am currently working on the IMU configuration (noise & bias). For your information, I am using IMU (Xsens MTI-G-710). But how do I get the extrinsic Trans, Rot & RPY?
Please refer to the following
https://github.com/TixiaoShan/LIO-SAM#prepare-imu-data
Note that li_slam_ros2 runs on 6-axis IMU.
hey @rsasaki0109 would you recommend any 6-axis IMU to use with this project ?
This package is based on LIO-SAM's fusion method, so the following and LIO-SAM's issues may be helpful.
We use Microstrain 3DM-GX5-25, which outputs data at 500Hz. We recommend using an IMU that gives at least a 200Hz output rate.
https://github.com/TixiaoShan/LIO-SAM#prepare-imu-data
There has been no recent activity on this issue, so I am going to close it.