LIO_SAM_6AXIS是大佬Catalina开源的针对6轴IMU适配LIO_SAM的项目,LIO_SAM初始化需要9轴IMU提供初始的姿态角,LIO_SAM_6AXIS开源地址在LIO_SAM_6AXIS,在此项目基础上适配UrbanNav,地址在LIO-SAM-6AXIS-UrbanNav 使用该项目的时候有一些疑问,updateInitialGuess()中,使用GPS计算的yaw值为transformTobeMapped赋值 doubl...
I appreciate for you job! Using #70 I can build the package with noetic. But, when I play the rosbag, it prints some error like following: [lio_sam_6axis_mapOptmization-5] process has died [pid 1468503, exit code -11, cmd /home/ubuntu/ca...
axis_imageProjection-2] process has died [pid 55405, exit code -11, cmd /home/pedro/catkin_ws/devel/lib/lio_sam_6axis/lio_sam_6axis_imageProjection __name:=lio_sam_6axis_imageProjection __log:=/home/pedro/.ros/log/9f001806-e544-11ee-903c-a33d96ef37be/lio_sam_6axis_image...
Ouster lidar:To make LIO-SAM work with Ouster lidar, some preparations needs to be done on hardware and software level. Hardware: Use an external IMU. LIO-SAM does not work with the internal 6-axis IMU of Ouster lidar. You need to attach a 9-axis IMU to the lidar and perform data-g...
LIO_SAM_6AXIS LIO_SAM_6AXIS is an open-source SLAM project based on the project LIO_SAM that has been modified to support a wider range of sensors. It includes support for a 6-axis IMU and low-cost GNSS, making it easier to adapt for your own sensor setup....
If I understand your code correctly, you convert LLA -> ECEF -> ENU, and add this value to the factor graph. I don't quite understand how this is possible, since the keyframes in addOdomFactor are in the lidar frame, not ENU. How do you ...
JokerJohn/LIO_SAM_6AXISPublic NotificationsYou must be signed in to change notification settings Fork124 Star630 New issue gps与slam对齐#66 fyyinkopened this issueDec 13, 2023· 2 comments fyyinkcommentedDec 13, 2023 JokerJohnclosed this ascompletedDec 15, 2023 ...
Here are the latest updates to LIO_SAM_6AXIS: - Fix some bugs in GNSS odometry: If the GNSS has enough translation (larger than 0.1m) in a short time, we publish an absolute yaw angle as a reference. - Improve LIO-GPS initialization: If the GNSS trajectory has been aligned well with...
@@ -5,8 +5,8 @@ This repo may help to adapt LIO_SAM for your own sensors! It has some changes co - support a 6-axis IMU, since the orientation information of IMU is not used in state estimation module. - support normal GNSS, we do not need to adapt for the robot_localization...
LIO_SAM_6AXIS includes the following features: Support for a 6-axis IMU: This allows you to use orientation information in state estimation, improving the accuracy of your results. Support for low-cost GNSS: By eliminating the need to adapt for the robot_localization node, this feature makes...