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fix the time sync remind problem

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xw 2021-07-18 01:31:56 -04:00
parent 669eedfc7d
commit 5cd5be3201
2 changed files with 4 additions and 4 deletions
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4
README.md
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@ -5,7 +5,7 @@
3. [UAV Avoiding Dynamic Obstacles](https://github.com/hku-mars/dyn_small_obs_avoidance): One of the implementation of FAST-LIO in robot's planning. 3. [UAV Avoiding Dynamic Obstacles](https://github.com/hku-mars/dyn_small_obs_avoidance): One of the implementation of FAST-LIO in robot's planning.
4. [R2LIVE](https://github.com/hku-mars/r2live): A high-precision LiDAR-inertial-Vision fusion work using FAST-LIO as LiDAR-inertial front-end. 4. [R2LIVE](https://github.com/hku-mars/r2live): A high-precision LiDAR-inertial-Vision fusion work using FAST-LIO as LiDAR-inertial front-end.
5. [UGV Demo](https://www.youtube.com/watch?v=wikgrQbE6Cs): Model Predictive Control for Trajectory Tracking on Differentiable Manifolds. 5. [UGV Demo](https://www.youtube.com/watch?v=wikgrQbE6Cs): Model Predictive Control for Trajectory Tracking on Differentiable Manifolds.
6. [SC-A-LOAM](https://github.com/gisbi-kim/SC-A-LOAM#for-livox-lidar): A [Scan-Context](https://github.com/irapkaist/scancontext) loop closure module that can directly work with FAST-LIO. 6. [FAST-LIO-SLAM](https://github.com/gisbi-kim/FAST_LIO_SLAM): The integration of FAST-LIO with [Scan-Context](https://github.com/irapkaist/scancontext) **loop closure** module.
## FAST-LIO ## FAST-LIO
**FAST-LIO** (Fast LiDAR-Inertial Odometry) is a computationally efficient and robust LiDAR-inertial odometry package. It fuses LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion, noisy or cluttered environments where degeneration occurs. Our package address many key issues: **FAST-LIO** (Fast LiDAR-Inertial Odometry) is a computationally efficient and robust LiDAR-inertial odometry package. It fuses LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion, noisy or cluttered environments where degeneration occurs. Our package address many key issues:
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<img src="doc/ulhkwh_fastlio.gif" width = 49.6% > <img src="doc/ulhkwh_fastlio.gif" width = 49.6% >
</div> </div>
**Related video:** [FAST-LIO2](https://youtu.be/2OvjGnxszf8), [FAST-LIO1](https://youtu.be/iYCY6T79oNU), [FAST-LIO1 + Scan-context loop closure](https://youtu.be/Fw9S6D6HozA) **Related video:** [FAST-LIO2](https://youtu.be/2OvjGnxszf8), [FAST-LIO1](https://youtu.be/iYCY6T79oNU), [FAST-LIO2 + Scan-context Loop Closure](https://www.youtube.com/watch?v=nu8j4yaBMnw)
**Pipeline:** **Pipeline:**
<div align="center"> <div align="center">

4
src/laserMapping.cpp
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@ -309,9 +309,9 @@ void livox_pcl_cbk(const livox_ros_driver::CustomMsg::ConstPtr &msg)
} }
last_timestamp_lidar = msg->header.stamp.toSec(); last_timestamp_lidar = msg->header.stamp.toSec();
if (!time_sync_en && abs(last_timestamp_imu - lidar_end_time) > 10.0) if (!time_sync_en && abs(last_timestamp_imu - last_timestamp_lidar) > 10.0 && !imu_buffer.empty() && !lidar_buffer.empty() )
{ {
printf("IMU and LiDAR not Synced, IMU time: %lf, lidar scan end time: %lf",last_timestamp_imu, lidar_end_time); printf("IMU and LiDAR not Synced, IMU time: %lf, lidar header time: %lf \n",last_timestamp_imu, last_timestamp_lidar);
} }
if (time_sync_en && !timediff_set_flg && abs(last_timestamp_lidar - last_timestamp_imu) > 1 && !imu_buffer.empty()) if (time_sync_en && !timediff_set_flg && abs(last_timestamp_lidar - last_timestamp_imu) > 1 && !imu_buffer.empty())