odometry topic '/lio_map_builder/aft_mapped_to_init'

[Claud1234]

Hi:

I just test the 'lio_mapping' with our own data, the odometry from topic 'predict_laser_odom' is quite good compared with the ground truth, but I did not see any output from the topic '/lio_map_builder/aft_mapped_to_init', actually this topic does not exist at all. What the reason of this?

May I ask what exact is this topic? Is Lio created the map itself? If it is, what kind of map it created?

[hyye]

Hi @Claud1234, may I ask if you started the lio_map_builder_node node? These map-related topics should be published in that node.

[Claud1234]

Cool. I think I figured it out.

Another thing is we concluded IMU message for our data may not that reliable by another IMU related fusion method, but same data works really good in LIO. Is LIO trust the Lidar more than the IMU?