Comments (5)
That's expected because LIO-SAM has drift when loop closure is not enabled.
from lio-sam.
You can enable the loop closure function by following README instructions.
#21
from lio-sam.
Thanks. I have changed the loopClosureEnableFlag
parameter to true
in config/params.yaml
.
The result is better now.
By the way, the IMU used in this project is 9-axis. The orientation could be get defaultly. If there is a 6-axis IMU, could I get the orientation by Integrating the angular velocity? Therefore, the 6-axis IMU could also be used in this project.
from lio-sam.
Theoretically, it's possible to use a 6-axis IMU. There are only a few places used roll, pitch, and yaw info.
from lio-sam.
OK. I will try it. Thanks very much.
from lio-sam.
Related Issues (20)
- Run LIO-SAM with Carla and ROS2 HOT 2
- I want to use LeiShen 128 line solid-state LiDAR to run LiO-SAM. How should I modify the code?
- [ WARN] [1706283012.687423712]: MSG to TF: Quaternion Not Properly Normalized HOT 1
- I want to use VLP16 and bno055 Bosch imu HOT 2
- Error starting lio_sam with default settings HOT 3
- Standing ego vehicle moves in rviz HOT 2
- [ERROR]: Static assertion failed: Error: GTSAM was built against a different version of Eigen HOT 1
- ROS2 foxy, colcon build error HOT 2
- Slam using LIO-SLAM
- Issue with running build script due to EIGEN HOT 1
- ERROR: cannot launch node of type [lio_sam/lio_sam_imuPreintegration]: Cannot locate node of type [lio_sam_imuPreintegration] in package [lio_sam]. Make sure file exists in package path and permission is set to executable (chmod +x) HOT 1
- I don't find the topic sub for GPS HOT 2
- Rooftop rosbag not working in ROS2 HOT 9
- Could not find a connection between 'lidar_link' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. HOT 2
- mid-70 can do it?
- catkin_make的问题
- [lio_sam_imuPreintegration-1] process has died [pid 12068, exit code -6 HOT 1
- 'gtsam::ValuesKeyDoesNotExist'
- cloudExtraction() of imageProjection.cpp typo?
- Point cloud timestamp not available, deskew function disabled, system will drift significantly! HOT 3
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from lio-sam.