When running with the Livox Mid360, the map saving process does not complete.

[falconkun]

I want to create a map using the Livox Mid360, but when I execute the map saving command, it doesn't complete.
I've modified the settings in params.yaml and rviz2.rviz, but are there any other settings I should configure?
The Ouster OS1 worked without any issues.

params.yaml

    # Topics
    pointCloudTopic: "/livox/lidar"                   # Point cloud data
    imuTopic: "/livox/imu"                        # IMU data
    odomTopic: "odometry/imu"                    # IMU pre-preintegration odometry, same frequency as IMU
    gpsTopic: "odometry/gpsz"                    # GPS odometry topic from navsat, see module_navsat.launch file

    # Frames
    lidarFrame: "livox_frame"
    baselinkFrame: "base_link"
    odometryFrame: "odom"
    mapFrame: "map"

    # GPS Settings
    useImuHeadingInitialization: false           # if using GPS data, set to "true"
    useGpsElevation: false                       # if GPS elevation is bad, set to "false"
    gpsCovThreshold: 2.0                         # m^2, threshold for using GPS data
    poseCovThreshold: 25.0                       # m^2, threshold for using GPS data

    # Export settings
    savePCD: false                               # https://github.com/TixiaoShan/LIO-SAM/issues/3
    savePCDDirectory: "/Downloads/LOAM/"         # in your home folder, starts and ends with "/". Warning: the code deletes "LOAM" folder then recreates it. See "mapOptimization" for implementation

    # Sensor Settings
    sensor: livox                               # lidar sensor type, either 'velodyne', 'ouster' or 'livox'
    N_SCAN: 4                                   # number of lidar channels (i.e., Velodyne/Ouster: 16, 32, 64, 128, Livox Horizon: 6)
    Horizon_SCAN: 6000                            # lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048, Livox Horizon: 4000)
    downsampleRate: 1                            # default: 1. Downsample your data if too many
    # points. i.e., 16 = 64 / 4, 16 = 16 / 1
    lidarMinRange: 1.0                           # default: 1.0, minimum lidar range to be used
    lidarMaxRange: 1000.0                        # default: 1000.0, maximum lidar range to be used

rviz2.rviz

      Topic:
        Depth: 5
        Durability Policy: Volatile
        History Policy: Keep Last
        Reliability Policy: System Default
        Value: /livox/lidar
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: base_link
    Frame Rate: 30

[Joaquin-Navas]

Hi,

could you share how did you adapt LIO-SAM to MID360?

I've got MID360 working properly with FAST LIO ROS 2, but couldn't make it work in this case :(

Thanks

[jonathantyl97]

@Joaquin-Navas

Hey, I'm trying to use FAST-LIO ROS2 with mid360 also, I can scan with point cloud generated but there were no mapping and I couldn't save the map at all.

May I know how did you do it?

Thanks!

[Joaquin-Navas]

@Joaquin-Navas

Hey, I'm trying to use FAST-LIO ROS2 with mid360 also, I can scan with point cloud generated but there were no mapping and I couldn't save the map at all.

May I know how did you do it?

Thanks!

What do you mean with point cloud generated but there were no mapping? and that you couldn´t save the map at all?

Are you referring you can SLAM and see the mapping in rviz but that the point cloud is not saved?

[jonathantyl97]

@Joaquin-Navas

https://drive.google.com/file/d/1Cwp29qvHg9128-An2TyJkhR_1vaoUy4h/view?usp=drive_link

I am facing such issue. I can have pointclouds, but there is no SLAM

[Joaquin-Navas]

@Joaquin-Navas

https://drive.google.com/file/d/1Cwp29qvHg9128-An2TyJkhR_1vaoUy4h/view?usp=drive_link

I am facing such issue. I can have pointclouds, but there is no SLAM

Please, open an issue in FAST LIO ROS2 repository specifying what command do you launch and mention me.

[arwinder-jaspal]

@falconkun Could you share how you got livox mid360 lidar to work with LIO-SAM?