problem with initial pose

[ZeyingXuHuaWei]

Hi, I test your algorithm with my own dataset. I first use this dataset to create a map by fast-lio2, then use the same dataset to do localization.

After I play the rosbag, cur_scan is at correct position in the point cloud map. Then I run
rosrun fast_lio_localization publish_initial_pose.py 0.0 0.0 0.0 0.0 0.0 0.0
The system Initialize successfully!!! but the pose of current scan immediately jump to a wrong position and direction. The same happens if I set the inital pose by using 2d pose estimate from rviz.

I test many times and this phenomenan happens always. Do you know why?

ps: My dataset is collected with a equipment where there is distance and angle difference between lidar and imu. But I have set correct extrinsics in the code.

[ZeyingXuHuaWei]

Correction: The system did not initialize successfully, the icp fitness score is not greater than 0.65 and the icp result pose immediately jump to another position from current correct position.

[HViktorTsoi]

Hi, did you use a livox LiDAR? And what is the frame rate that the livox ros driver publishes the point cloud? We are now assuming the frame frate is 10Hz in our implementation, so there will be enough points for global localization from a single scan, if you're using a higher frame rate, like 100Hz, there may not be enough points for global localization, and therefore the fitness score is low;

And it may not be the issue with the LiDAR-IMU extrinsic, if your sensor setup is tested successfully in fastlio, it's also compatible with fastlio localization;

If possible, it will be more efficient if you may provide the test bag and the sample map for debugging, to cuijiahetony@live.com, or at leaset post some visualization from RVIZ, of the the pointcloud for initailization and the map.

[ZeyingXuHuaWei]

The problem is solved. I am using a rotation lidar. So I need to set the parameter FOV to be bigger than 3.14.