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Can the map building process of lio_sam be accelerated? #401

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Stream11 opened this issue Feb 21, 2023 · 2 comments
Open

Can the map building process of lio_sam be accelerated? #401

Stream11 opened this issue Feb 21, 2023 · 2 comments

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@Stream11
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I use the pre-recorded bag package to build the map.
Using the “rosbag play -r ” command to speed up will make it report an error''Large velocity, reset IMU-preintegration!"
Is it a hardware problem？
@lukasj-imar
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Same problem here. LIO-SAM only works with, if the sensor pub rate is decreased a lot. Do you have found a solution? Maybe a scheduling-policy-problem?

@lukasj-imar
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Take a look: #437

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@Stream11 @lukasj-imar