Hi, I am attempting to map in simulation using a humanoid robot in Isaac Sim and FAST_LIO. I recorded a rosbag of the movement, and when playing it back the scans become incoherent after movement, when the robot turns and tilts forward/backwards.
Before moving
After moving
When attempting to calibrate the extrinsic, I found that LiDAR_IMU_Init can produce a coherent map.
However, even after setting the extrinsic and fiddling with the config I still cannot produce a coherent map using FAST_LIO. Here is the configuration I am using:
/**:
ros__parameters:
feature_extract_enable: false
point_filter_num: 1
max_iteration: 3
filter_size_surf: 0.05
filter_size_map: 0.15
cube_side_length: 1000.0
runtime_pos_log_enable: false
map_file_path: "./test.pcd"
common:
lid_topic: "/point_cloud"
imu_topic: "/imu"
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
# time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README).
# This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0
time_offset_lidar_to_imu: -0.039862
preprocess:
lidar_type: 4 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 4 for any other pointcloud input
scan_line: 6
blind: 1.0
timestamp_unit: 4
scan_rate: 10
mapping:
acc_cov: 2.0
gyr_cov: 2.0
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
fov_degree: 360.0
det_range: 100.0
extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic
extrinsic_T: [ -0.013481, 0.014976, 0.247690 ] # lidar_imu_init
extrinsic_R: [
0.999270, 0.033314, 0.018680,
-0.032879, 0.999191, -0.023149,
-0.019436, 0.022518, 0.999557,
]
publish:
path_en: true # true: publish Path
effect_map_en: false # true: publish Effects
map_en: true # true: publish Map cloud
scan_publish_en: true # false: close all the point cloud output
dense_publish_en: true # false: low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: false
interval: -1 # how many LiDAR frames saved in each pcd file;
# -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
Do you have any tips on how to debug this/what I can try?
Hi, I am attempting to map in simulation using a humanoid robot in Isaac Sim and FAST_LIO. I recorded a rosbag of the movement, and when playing it back the scans become incoherent after movement, when the robot turns and tilts forward/backwards.
Before moving
After moving
When attempting to calibrate the extrinsic, I found that LiDAR_IMU_Init can produce a coherent map.
However, even after setting the extrinsic and fiddling with the config I still cannot produce a coherent map using FAST_LIO. Here is the configuration I am using:
Do you have any tips on how to debug this/what I can try?