Mapping Problem on NCD quad Dataset

[Nothand0212]

Hi, I'm trying your code, but there are some problems.

• 1. the Autoware is necessary? Because when running, I meet below report:

[ERROR] [1704597406.254755494]: PluginlibFactory: The plugin for class 'autoware_rviz_debug/DecisionMakerPanel' failed to load.  Error: According to the loaded plugin descriptions the class autoware_rviz_debug/DecisionMakerPanel with base class type rviz::Panel does not exist. Declared types are  rviz_plugin_tutorials/Teleop
[rospack] Error: no package given
[librospack]: error while executing command
[rospack] Error: no package given
[librospack]: error while executing command

• 2. Failed to repeat the mapping result on NCD dataset. I did not change the config file, and run as default. It will rotate and down-forward .
     

[zijiechenrobotics]

Sorry for giving you a bad experience.

1. The Autoware's plugins are not necessary. You can ignore this ERROR.
2. Have you tried using other sequences? If it still drifts, I recommend the docker environment https://github.com/zijiechenrobotics/ig_lio_workspace

[Nothand0212]

Sorry for giving you a bad experience.

1. The Autoware's plugins are not necessary. You can ignore this ERROR.

2. Have you tried using other sequences? If it still drifts, I recommend the docker environment https://github.com/zijiechenrobotics/ig_lio_workspace

I had try the same dataset on docker environment, but there are the same problem. I will try others dataset next days, it is hard to download, always disconnect and failed.

[zijiechenrobotics]

Thank you for the time you spent in iG-LIO.

1. Which sequence did you test in The Newer College Dataset? The lio_ncd.launch only supports Stereo-Cam's sequences instead of Multi-Cam.
2. What is the numeric of ba_norm in the terminal when initialized?
3. You can download NCLT and AVIA from Baidu Cloud on the Chinese mainland. https://pan.baidu.com/share/init?surl=ELOcF1UTKdfiKBAaXnE8sQ&pwd=feky