xiangli0608 / creating-2d-laser-slam-from-scratch Goto Github PK
View Code? Open in Web Editor NEW从零开始创建二维激光SLAM
License: Apache License 2.0
creating-2d-laser-slam-from-scratch's Issues
leson5中对imu进行时间对齐问题
用四元数进行线性插值会不会更准确些？直接用欧拉角插值会不会遇到问题，对于三维空间
lesson5 Buffer
`process[lesson5_lidar_undistortion_node-1]: started with pid [6474]
[ INFO] [1665943277.510287295]: ----> lidar undistortion node started.
[ WARN] [1665943277.874711922]: Waiting for IMU data ...
[ WARN] [1665943277.974353921]: Waiting for IMU data ...
terminate called after throwing an instance of 'ros::serialization::StreamOverrunException'
what(): Buffer Overrun
[lesson5_lidar_undistortion_node-1] process has died [pid 6474, exit code -6, cmd
`
我试了把queue_size 1 改成10, 还是报一样的错
corrected_pointcloud_publisher_ = node_handle_.advertise<PointCloudT>( "corrected_pointcloud", 10, this);
请问你们遇到过这个问题吗 谢谢
lesson 5: incorrect integration on angular velocity
If you would like to achieve RPY from angular velocity, the correct formula should have one more matrix.
Reference: https://zhuanlan.zhihu.com/p/68294744
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