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help please!!! How to use "LiDAR_IMU_Init" to init my own data? #108

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nw-wf opened this issue Jul 9, 2024 · 1 comment
Open

help please!!! How to use "LiDAR_IMU_Init" to init my own data? #108

nw-wf opened this issue Jul 9, 2024 · 1 comment

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@nw-wf
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nw-wf commented Jul 9, 2024

I am a beginner, if you by pass, please take a look, many thanks!
I want to use FAST_LIO, but first I have to calibrate time.
lidar:livox mid-70
IMU:wit JY901B

I followed the readme to operate step by step, But there didn't have any results or error.
Here is my operation process. Please help to check which step went wrong! Thanks a lot!

  1. start lidar
    roslaunch livox_ros_driver livox_lidar.launch
    image
  2. start imu
    roslaunch wit_ros_imu wit_imu.launch
    image
  3. to verify if data can be recieved
    image
    rostopic echo /livox/lidar
    image
    rostopic echo /wit/imu
    image
  4. record a rosbag
    rosbag record -o my_livox_wit.bag /livox/lidar /wit/imu
    image
  5. modify livox_wit_test.launch
    image
  6. modify wit_test.yaml
    image
  7. start lidar_imu_init
    roslaunch lidar_imu_init livox_wit_test.launch
    image
  8. another terminal rosbag play
    image

The points:
rviz didn't show anything
image
terminal didn't show any error
image

The questions:
Initialization_result.txt didn't have anything!
I don't know how to do, please help me, many thanks!!! @zfc-zfc @Taeyoung96 @UAVlover
image

@nw-wf
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nw-wf commented Jul 12, 2024

Thanks for your reply! @zfc-zfc
I want to make a summary and to help someone like me!

  1. Publish data and record packages
    roslaunch livox_ros_driver livox_lidar_msg.launch # Please note this, only livox_lidar_msg.launch can publish this
    format[livox_ros_driver/CustomMsg]
    image
    roslaunch wit_ros_imu wit_imu.launch
    rosbag record -o my_livox_wit.bag /livox/lidar /wit/imu

  2. Init
    roslaunch lidar_imu_init livox_avia.launch # Please note this, remember to modify imu_topic with lid_topic!!!
    rosbag play my_livox_wit_2024-07-11-16-07-45.bag
    /home/ubuntu/cchen/catkin_ws/src/LiDAR_IMU_Init/result/Initialization_result.txt # result path

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