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