关于启动里程计时，里程计会原地有随机漂移的问题

[Xyxx3353]

使用的mid360雷达，具体config为
common:
lid_topic: "/livox/lidar"
imu_topic: "/livox/imu"
con_frame: false # true: if you need to combine several LiDAR frames into one
con_frame_num: 1 # the number of frames combined
cut_frame: false # true: if you need to cut one LiDAR frame into several subframes
cut_frame_time_interval: 0.01 # should be integral fraction of 1 / LiDAR frequency
time_lag_imu_to_lidar: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme)
# the timesample of IMU is transferred from the current timeline to LiDAR's timeline by subtracting this value

preprocess:
lidar_type: 1
scan_line: 4
timestamp_unit: 1 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
blind: 0.5

mapping:
imu_en: true
start_in_aggressive_motion: false # if true, a preknown gravity should be provided in following gravity_init
extrinsic_est_en: false # for aggressive motion, set this variable false
imu_time_inte: 0.005 # = 1 / frequency of IMU
satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units
satu_gyro: 35 # the saturation value of IMU's angular velocity. not related to the units
acc_norm: 1.0 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
lidar_meas_cov: 0.001 # 0.001; 0.01
acc_cov_output: 500
gyr_cov_output: 1000
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
imu_meas_acc_cov: 0.1 #0.1 # 0.1
imu_meas_omg_cov: 0.1 #0.01 # 0.1
gyr_cov_input: 0.01 # for IMU as input model
acc_cov_input: 0.1 # for IMU as input model
plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
match_s: 81
fov_degree: 360
det_range: 100
gravity_align: true # true to align the z axis of world frame with the direction of gravity, and the gravity direction should be specified below
gravity: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # gravity to be aligned
gravity_init: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # # preknown gravity in the first IMU body frame, use when imu_en is false or start from a non-stationary state
extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1 ]

odometry:
publish_odometry_without_downsample: false

publish:
path_en: true # false: close the path output
scan_publish_en: true # false: close all the point cloud output
scan_bodyframe_pub_en: false # 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.

使用的master分支的code，mid360的发布频率为100Hz，
在每次启动point lio的时候里程计输出会随机产生大小的漂移，在雷达频率为10Hz的时候不会有类似的情况。
非常期待您的回复！

[Joanna-HE]

你好，感谢你的关注和提问！可以在对应的launch文件中，将init_map_size改为1000.

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________________________________ 寄件者: Xyxx3353 ***@***.***> 寄件日期: 2024年5月22日 下午 09:12 收件者: hku-mars/Point-LIO ***@***.***> 副本: Subscribed ***@***.***> 主旨: [hku-mars/Point-LIO] 关于启动里程计时，里程计会原地有随机漂移的问题 (Issue #86) 使用的mid360雷达，具体config为 common: lid_topic: "/livox/lidar" imu_topic: "/livox/imu" con_frame: false # true: if you need to combine several LiDAR frames into one con_frame_num: 1 # the number of frames combined cut_frame: false # true: if you need to cut one LiDAR frame into several subframes cut_frame_time_interval: 0.01 # should be integral fraction of 1 / LiDAR frequency time_lag_imu_to_lidar: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme) # the timesample of IMU is transferred from the current timeline to LiDAR's timeline by subtracting this value preprocess: lidar_type: 1 scan_line: 4 timestamp_unit: 1 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. blind: 0.5 mapping: imu_en: true start_in_aggressive_motion: false # if true, a preknown gravity should be provided in following gravity_init extrinsic_est_en: false # for aggressive motion, set this variable false imu_time_inte: 0.005 # = 1 / frequency of IMU satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units satu_gyro: 35 # the saturation value of IMU's angular velocity. not related to the units acc_norm: 1.0 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration lidar_meas_cov: 0.001 # 0.001; 0.01 acc_cov_output: 500 gyr_cov_output: 1000 b_acc_cov: 0.0001 b_gyr_cov: 0.0001 imu_meas_acc_cov: 0.1 #0.1 # 0.1 imu_meas_omg_cov: 0.1 #0.01 # 0.1 gyr_cov_input: 0.01 # for IMU as input model acc_cov_input: 0.1 # for IMU as input model plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane match_s: 81 fov_degree: 360 det_range: 100 gravity_align: true # true to align the z axis of world frame with the direction of gravity, and the gravity direction should be specified below gravity: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # gravity to be aligned gravity_init: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # # preknown gravity in the first IMU body frame, use when imu_en is false or start from a non-stationary state extrinsic_T: [ -0.011, -0.02329, 0.04412 ] extrinsic_R: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] odometry: publish_odometry_without_downsample: false publish: path_en: true # false: close the path output scan_publish_en: true # false: close all the point cloud output scan_bodyframe_pub_en: false # 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. 使用的master分支的code，mid360的发布频率为100Hz， 在每次启动point lio的时候里程计输出会随机产生大小的漂移，在雷达频率为10Hz的时候不会有类似的情况。 非常期待您的回复！ ― Reply to this email directly, view it on GitHub<#86>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/ANJUIXTDWK4S7OV5B35IEILZDSKVLAVCNFSM6AAAAABIDT64X2VHI2DSMVQWIX3LMV43ASLTON2WKOZSGMYTANJQHAYDCOI>. You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[Xyxx3353]

感谢您的帮助，在修改了init_map_size为1000后还是会存在开启后漂移的问题，这是我的launch文件

<arg name="rviz" default="true" />

<node pkg="point_lio" type="pointlio_mapping" name="laserMapping" output="screen">
<rosparam command="load" file="$(find point_lio)/config/mid360.yaml" />
<param name="use_imu_as_input" type="bool" value="1"/> <!--change to 1 to use IMU as input of Point-LIO-->
<param name="prop_at_freq_of_imu" type="bool" value="1"/>
<param name="check_satu" type="bool" value="1"/>
<param name="init_map_size" type="int" value="1000"/>
<param name="point_filter_num" type="int" value="1"/> <!--4, 3--> 
<param name="space_down_sample" type="bool" value="1" />  
<param name="filter_size_surf" type="double" value="0.3" /> <!--0.5, 0.3, 0.2, 0.15, 0.1--> 
<param name="filter_size_map" type="double" value="0.2" /> <!--0.5, 0.3, 0.15, 0.1-->
<param name="cube_side_length" type="double" value="2000" /> <!--1000-->
<param name="runtime_pos_log_enable" type="bool" value="0" /> <!--1-->
</node>
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find point_lio)/rviz_cfg/loam_livox.rviz" />
</group>

launch-prefix="gdb -ex run --args"

再次感谢解答