From d9cdf2cec58f95da2779bc386893dccaa47272a0 Mon Sep 17 00:00:00 2001 From: "Cris.Wei" Date: Tue, 15 Mar 2022 14:45:38 +0800 Subject: [PATCH] Update README.md --- README.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/README.md b/README.md index 587cf00..e379714 100644 --- a/README.md +++ b/README.md @@ -89,8 +89,13 @@ Clone the repository and catkin_make: ```export PCL_ROOT={CUSTOM_PCL_PATH}``` ## 3. Directly run Noted: + A. Please make sure the IMU and LiDAR are **Synchronized**, that's important. + B. The warning message "Failed to find match for field 'time'." means the timestamps of each LiDAR points are missed in the rosbag file. That is important for the forward propagation and backwark propagation. + +C. Recommend to set the extrinsic_est_en to false if the extrinsic is give, as the online extrinsic calibration always requires much excitations to convergence. + ### 3.1 For Avia Connect to your PC to Livox Avia LiDAR by following [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then ```