mirrors/FAST_LIO
1
0
Fork 0
mirror of https://github.com/hku-mars/FAST_LIO.git synced 2023-04-06 16:28:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

update the livox data collect part

Browse Source
This commit is contained in:
xw
2021-07-06 04:19:52 -04:00
parent c18e1169cc
commit bd8863926c
1 changed files with 1 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
README.md
View File

@@ -96,6 +96,7 @@ Connect to your PC to Livox Avia LiDAR by following [Livox-ros-driver installat
roslaunch fast_lio mapping_avia.launch
roslaunch livox_ros_driver livox_lidar_msg.launch
```
- For livox serials, FAST-LIO only support the data collected by the ``` livox_lidar_msg.launch ``` since only its ``` livox_ros_driver/CustomMsg ``` data structure produces the timestamp of each LiDAR point which is very important for the motion undistortion. ``` livox_lidar.launch ``` can not produce it right now.
- If you want to change the frame rate, please modify the **publish_freq** parameter in the [livox_lidar_msg.launch](https://github.com/Livox-SDK/livox_ros_driver/blob/master/livox_ros_driver/launch/livox_lidar_msg.launch) of [Livox-ros-driver](https://github.com/Livox-SDK/livox_ros_driver) before make the livox_ros_driver pakage.
### 3.2 For Livox serials with external IMU